针对扰动作用和模型不确定性下四旋翼无人机精确轨迹跟踪控制问题,提出了一种主动干扰抑制和模型预测控制(Model Predictive Control,MPC)策略.模型预测控制器通过扩张状态观测器(Extended State Observer,ESO)和扰动观测器(Disturbance Observer,DO)来估计和补偿干扰,从而实现位置环精确控制.在存在外部干扰和参数不确定性的情况下,通过仿真实验,证明了所提出的方法提高了对建模误差和干扰的鲁棒性,同时实现了对参考轨迹的平滑跟踪.
Trajectory tracking control for quadrotor based on MPC and ESO-DO
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.
quadrotormodel predictive controlexpansive state observerdisturbance observertrajectory tracking
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