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In this paper, we propose the tracking control problem of a quadrotor with model uncertainties and external disturbances. First, the Newton-Euler method is applied to construct the mathematical model of the quadrotor. Then, the MPC is applied to the linearized and decoupled subsystems of the drone successively. The disturbance observer was used to estimate the disturbances of the quadrotor and was integrated into the MPC prediction model. Finally, simulation results show that the quadrotor can track the reference trajectory effectively even in the presence of disturbances and neglected dynamics.

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MPC with Disturbance Observer for Quadrotor System Control

  • 会议论文

  • 发表日期：

    2026年

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  • Hibat Elrahmane Makhloufi,
  • Abdelnasser Sahli,
  • Mohammed Belkhiri

摘要

In this paper, we propose the tracking control problem of a quadrotor with model uncertainties and external disturbances. First, the Newton-Euler method is applied to construct the mathematical model of the quadrotor. Then, the MPC is applied to the linearized and decoupled subsystems of the drone successively. The disturbance observer was used to estimate the disturbances of the quadrotor and was integrated into the MPC prediction model. Finally, simulation results show that the quadrotor can track the reference trajectory effectively even in the presence of disturbances and neglected dynamics.