Generalized predictive control with dynamic compensation for quadrotor attitude stabilization

This work present a linear generalized predictive controller (GPC) to stabilize the attitude of the quadrotor. Without the conventional linearization method or identification online, a dynamic compensation linearization approach with extended state observer (ESO) was provided to linearize the attitude dynamic. Then, a generalized predictive controller based on a linear nominal model was designed for the attitude of the quadrotor. The controller in this study not only reduces the computer process, but also increases the robustness of the system. The simulation results indicate the good performance of the controller applying to the quadrotor attitude stabilization.