In this study, we introduce an algorithm that merges disturbance observer and linearized model predictive control (DO-MPC) to address the trajectory tracking challenge encountered by a quadcopter. The nonlinear dynamics of a quadcopter vehicle are approximated through linearization around the hover state. Subsequently, a nominal model predictive controller is synthesized by formulating state space equations to generate thrust and attitude commands. A disturbance observer is built to assess and counteract for disturbances within the model prediction controller, taking into account the impact of external disturbances on the quadcopter. The purpose of the simulation studies is to assess the quadcopter's tracking capability via trajectory tracking and fixed-point hovering. The results demonstrate the control algorithm ensures the quadcopter effectively tracks the desired trajectory despite constant or continuously varying disturbances.
A DO-MPC Control Strategy for Trajectory Tracking of Quadcopters
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-06
11 pages
Article/Chapter (Book)
Electronic Resource
English
Wiley | 2024
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