MPC/SMC Control for a Quadrotor’s Trajectory Tracking

To solve the trajectory tracking problem for a quadrotor helicopter in the presence of model parametric uncertainties and wind perturbations, a global dynamic robust control strategy is proposed in this paper. Both the translational control and the rotational attitude control after decoupling were obtained by the Newton-Euler formalism. To stabilize the rotational attitude and translational movements, a model predictive controller (MPC) was designed, with a sliding mode controller (SMC) running parallel, to realize the reference trajectory tracking. Simulation results are presented to corroborate the real-time, effectiveness, and stability of the proposed strategy.