Abstract
Tracking control problem of quadrotor helicopter with wind disturbances is addressed in this paper. A model predictive control (MPC) method based on the extended state observer (ESO) is presented. First, considering the aerodynamic effects of lateral wind, the quadrotor helicopter mathematical model is built by the Newton-Euler approach. In order to generate the turbulent wind field, the Dryden model is adopted. Then, ESO based MPC controllers are designed for position tracking. For the attitude control, the nonlinear dynamics are linearized by the feedback linearization strategy, and an MPC controller is designed for attitude tracking which has been compensated with ESO through estimating the unmodeled dynamics and wind disturbances. Finally, the simulation results show that the quadrotor helicopter can effectively track the reference trajectory under wind disturbances.
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