Compound tracking control based on MPC for quadrotors with disturbances

In this paper, a compound control strategy is proposed to realize the trajectory tracking task of quadrotors under operating constraints and disturbances. Disturbances caused by model uncertainties, environmental noises, and measurement disturbances are divided into matched disturbances and unmatched ones, which are compensated and suppressed separately by using two control components. The integral sliding mode control component is designed to actively reject the matched disturbances, and the control system is then transformed into an equivalent control system subject to equivalent disturbances only related to the unmatched disturbances. The remaining equivalent disturbances are treated by a robust model predictive control component based on the idea of constraints tightening, which minimizes the tracking error in an optimization framework and takes both state and input constraints into account explicitly. The derived compound control strategy is based on these two control components. Conditions are provided to guarantee the robust constraint satisfaction, recursive feasibility and closed-loop stability of the tracking error system. An illustrative example on the quadrotors shows the efficiency and robustness of this compound tracking control algorithm. (c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper proposes a compound control strategy for the trajectory tracking task of quadrotors under operating constraints and disturbances. The strategy effectively handles disturbances by dividing them into matched and unmatched disturbances and using two control components for compensation and suppression. The strategy is based on integral sliding mode control and robust model predictive control. Conditions are provided to guarantee the robust constraint satisfaction, recursive feasibility and closed-loop stability of the system.