External force estimation and disturbance rejection for Micro Aerial Vehicles

To deploy Micro Aerial Vehicles (MAVs) in real-world applications, there is a need for online methods to cope with uncertainties localization and external disturbances. In this article, we propose set of novel real-time embedded Nonlinear Model Predictive Control (NMPC) Moving Horizon Estimation (NMHE) modules MAV based disturbance rejection. The NMPC NMHE are on the dynamic model MAV, thus, avoiding system identification creating specific aerodynamic models, benefit that results generic solution capable being independent type MAVs. As it will be presented, estimates forces, while generates thrust attitude commands low-level controller compensate various disturbances could occur, such as wind gusts, tethered payload, varying center gravity. proposed method evaluated extensively multiple experimental include scenarios position hold against an actuating wind-wall, adding changing MAV’s arm configurations. • External forces estimation via nonlinear moving horizon estimation. Disturbance rejection estimated MPC. compensates winds, CoG variations. scenarios.