Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC). Additionally, the kinematic and dynamic models of the quadrotor are comprehensively described. Finally, a simulation system is implemented to verify feasibility, demonstrating the effectiveness of both controllers.

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among these, precise control is a critical task that determines the performance and capabilities of UAV systems. However, current research primarily focuses on trajectory tracking and minimizing flight errors, with limited attention to improving flight time. In this paper, we propose a Model Predictive Control (MPC) approach aimed at minimizing flight time while addressing the limitations of the commonly used classical MPC controllers. Furthermore, the MPC method and its application for UAV control are presented in detail. Finally, the results demonstrate that the proposed controller outperforms the standard MPC in terms of efficiency. Moreover, this approach shows potential to become a foundation for integrating intelligent algorithms into basic controllers.

Foehn winds, characterized by abrupt temperature increases and wind speed changes, significantly impact regions on the leeward side of mountain ranges, e.g., by spreading wildfires. Understanding how foehn occurrences change under climate change is crucial. Unfortunately, foehn cannot be measured directly but has to be inferred from meteorological measurements employing suitable classification schemes. Hence, this approach is typically limited to specific periods for which the necessary data are available. We present a novel approach for reconstructing historical foehn occurrences using a combination of unsupervised and supervised probabilistic statistical learning methods. We utilize in-situ measurements (available for recent decades) to train an unsupervised learner (finite mixture model) for automatic foehn classification. These labeled data are then linked to reanalysis data (covering longer periods) using a supervised learner (lasso or boosting). This allows to reconstruct past foehn probabilities based solely on reanalysis data. Applying this method to ERA5 reanalysis data for six stations across Switzerland and Austria achieves accurate hourly reconstructions of north and south foehn occurrence, respectively, dating back to 1940. This paves the way for investigating how seasonal foehn patterns have evolved over the past 83 years, providing valuable insights into climate change impacts on these critical wind events.