Niu, Chaoying (University of Science and Technology Beijing), Sun, Liang (University of Science and Technology Beijing)

Nonlinear Disturbance Observer Augmented Model Predictive Attitude Tracking Control of Quadrotors

Scheduled for presentation during the Regular Session "Fail-Safe Systems" (TuD24T1), Tuesday, November 26, 2019, 11:40−12:00, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

A new nonlinear disturbance observer (NDO) based generalized model predictive control method is derived for quadrotor attitude tracking missions. The parametric uncertainties, matched and mismatched disturbances are considered in the controller design. For the attitude subsystem, a generalized model predictive kinematic controller with NDO is designed to compensate for mismatched disturbances. For the angular velocity subsystem, generalized model predictive controller and NDO are combined to design the actual control input torques, where NDO is used to estimate the unknown disturbances, while the predictive control is used for optimizing the control efforts. The attitude tracking errors eventually converge to small neighborhoods of zero with the proposed control strategy, and the simulation results validate the effectiveness of the proposed approach.