A robust control scheme for aerial path generation and tracking is proposed in this paper. The control structure is based on the MPC - Model Predictive Control- and the UDE -Uncertainty and Disturbance Estimator - approaches. Both algorithms can be used with simple controllers for becoming more robust with respect to nonlinear uncertainties and external disturbances. The proposed scheme is applied to a quadcopter vehicle. Experimental results confirm the well performance of the closed-loop system when tracking trajectories, even in the presence of perturbations.
Robust control scheme for trajectory generation and tracking for quadcopters vehicles: Experimental results*
2018-06-01
3016061 byte
Conference paper
Electronic Resource
English
A DO-MPC Control Strategy for Trajectory Tracking of Quadcopters
Springer Verlag | 2025
|Wiley | 2024
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