ESO-MPC Based Trajectory Tracking Control Of Quadrotor Subject To Wind Disturbances

The quadrotor is widely used in military and civilian fields.However,the quadrotor is a nonlinear,underactuated and strongly coupled system,and it will be disturbed by uncertain turbulent wind field during its actual flight,which make it difficult for us to design a controller for the quadrotor.This paper focuses on the trajectory tracking control problem of quadrotor subject to wind disturbances.The main work is as follows:Firstly,the dynamic model of quadrotor subject to wind disturbances is studied.The force analysis of the quadrotor subject to wind disturbances is based on aerodynamics.And the Newton-Euler approach is adopted to deduce the quadrotor's dynamic model.Then,the path tracking control algorithm of quadrotor subject to wind disturbances is studied.The quadrotor controller can be decoupled into outer loop position controller and inner loop attitude controller.Extended state observer based model predictive control(ESOMPC)approach is designed for position loop and attitude loop.For the attitude control,the nonlinear dynamics are linearized by the feedback linearization strategy.A dedicated MPC controller is designed for attitude following which has been compensated with ESO through estimating the unmodeled part of quadrotor and wind disturbances.Simulation results show the effectiveness of the approach.Finally,the path tracking control algorithm of quadrotor subject to wind disturbances and measurement noises is studied.To eliminate the adverse effects of measurement noises on the path tracking control of quadrotor,the extended state based Kalman filter(ESKF)is adopted in position loop and attitude loop to provide feedforward compensation for MPC,which can get effective compensation for unmodeled dynamics and wind disturbances when considering measurement noises.Simulation results show the effectiveness of the method.