Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor

TL;DR

This paper introduces a fixed-time disturbance observer-based model predictive control method for quadrotors, ensuring robust trajectory tracking despite disturbances and uncertainties, with proven convergence within a fixed time frame.

Contribution

A novel multivariable fixed-time disturbance observer combined with an observer-based MPC strategy for quadrotor trajectory tracking is proposed, guaranteeing fixed-time convergence of disturbance estimation.

Findings

Effective disturbance estimation within fixed time

Robust trajectory tracking demonstrated in simulations

Validated with real-world experiments

Abstract

In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is proposed to estimate the lumped disturbances. The bi-limit homogeneity and Lyapunov techniques are employed to ensure the convergence of estimation error within a fixed convergence time, independent of the initial estimation error. Then, an observerbased model predictive control strategy is formulated to achieve robust trajectory tracking of quadrotor, attenuating the lumped disturbances and model uncertainties. Finally, simulations and real-world experiments are provided to illustrate the effectiveness of the proposed method.