Trajectory Tracking Control Design for UAV Based on MPC and Active Disturbance Rejection

A control strategy which consists of model predictive control and active disturbance rejection is proposed for the trajectory tracking problem of fixed-wing unmanned aerial vehicles under disturbances. Considering the longitudinal motion dynamic model, a constrained predictive controller is designed for trajectory tracking control while ADRC is designed to estimate and compensate disturbances. In this article, an augmented state-space model is established for predictive controller design and Hildreth's Quadratic Programming Procedure is used to solve constrained problem. In terms of ADRC, the linear extended state observer (LESO) is established to deal with disturbances. The performance of the proposed control strategy is demonstrated by simulation.