Trajectory tracking control for quadrotor based on MPC and ESO-DO

Abstract

An active disturbance suppression and model predictive control (MPC) strategy is proposed for the quadrotor precision trajectory tracking control problem under disturbance action and model uncertainty. The model predictive controller estimates and compensates the disturbance by the extended state observer (ESO) and disturbance observer (DO) to achieve the position loop accurate control. In the presence of external disturbances and parameter uncertainties, it is demonstrated through simulation experiments that the proposed method improves the robustness to modeling errors and disturbances, while achieving smooth tracking of the reference trajectory.

Keywords

• quadrotor|model predictive control|expansive state observer|disturbance observer|trajectory tracking