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The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.<\/jats:p>","DOI":"10.1017\/s026357471800036x","type":"journal-article","created":{"date-parts":[[2018,6,6]],"date-time":"2018-06-06T01:41:31Z","timestamp":1528249291000},"page":"1363-1385","source":"Crossref","is-referenced-by-count":5,"title":["Constrained generalized predictive control for obstacle avoidance in a quadcopter"],"prefix":"10.1017","volume":"36","author":[{"given":"Jos\u00e9 Luis","family":"Mendoza-Soto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luis","family":"Alvarez-Icaza","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3806-8137","authenticated-orcid":false,"given":"H.","family":"Rodr\u00edguez-Cort\u00e9s","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,6,6]]},"reference":[{"key":"S026357471800036X_ref18","doi-asserted-by":"crossref","unstructured":"T. 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