Event-Triggered MPC with Nonlinear High-Gain Disturbance Observer for Trajectory Tracking of Quadrotor

In this paper, an event-triggered model predictive control strategy is proposed for trajectory tracking of quadrotor in the presence of disturbances, incorporating a nonlinear high-gain disturbance observer. Firstly, a nonlinear high-gain disturbance observer is proposed to estimate the lumped disturbances, aiming to provide an accurate prediction model. Then, based on the disturbance estimation, an event-triggered model predictive control strategy is developed for trajectory tracking with a low computational burden. By integrating the disturbance estimation into the event-triggered model predictive control, the computational burden is further reduced. Finally, simulation results illustrate the effectiveness of the proposed method.