Dual-Loop Control Based on Tube-Based MPC for UAVs with Disturbance

Due to the reduction of control accuracy when the unmanned aerial vehicles (UAVs) are disturbed in motion, a dual-loop control strategy is established based on the robust model predictive control (TMPC) and the sliding mode control (SMC) in this paper. An outer-loop TMPC position controller is designed by using the Radial Basis Function (RBF) Neural Network to estimate external disturbances to reconstruct the nominal system model, which improves robustness to external disturbances while satisfying constraints and stability; Meanwhile, the inner-loop Sliding PID (SPID) controller is designed for the attitude subsystem via combining the SMC and the PID features, ensuring the stability of attitude control under disturbance, which enhances the UAVs trajectory tracking control effect under disturbance, and improves the stability and anti-disturbance capability. Simulation experiments demonstrate the effectiveness of the proposed algorithm in the UAVs control under disturbance.