Trajectory tracking control of four-rotor UAV based on nonlinear extended state observer and model predictive control in wind disturbance environment

Abstract In this paper, a novel hybrid controller utilizing a nonlinear extended state observer (NLESO) is introduced. According to the Newton-Euler equation, the four-rotor UAV is modeled and divided into the position subsystem and attitude subsystem. The position subsystem is controlled using the Model Predictive Control (MPC) algorithm. At the same time, the attitude controller utilizes the Sliding Mode Control (SMC) algorithm, which provides an enhanced level of responsiveness, resulting in reduced response times. The Nonlinear Extended State Observer (NLESO) is used in each controller in order to counteract the effects of disturbances. The findings obtained from the simulation experiments demonstrate that the controller design exhibits favorable tracking performance and robust resistance against external disturbances.