An Improved Dynamic Matrix Control for the Quadrotor UAV Trajectory Tracking

An improved dynamic matrix control (IDMC) incorporating both a linear active disturbance rejection control (LADRC) and a dynamic matrix control (DMC) is proposed in this paper. The inner loop of the IDMC is the closed-loop LADRC system, and it is viewed as a controlled plant of the DMC. If proper parameters are chosen, the inner loop system approximates a linear time-invariant system. Furthermore, its dynamics can also be viewed as a predictive model of the IDMC. Due to the LADRC, any system, no matter stable or unstable, linear or nonlinear, is controllable by the IDMC. In addition, by comparison with the DMC, the closed-loop IDMC system becomes faster and more robust. Numerical results on a simple controlled plant and a quadrotor unmanned aerial vehicle also confirm the proposed IDMC.