External force estimation and disturbance rejection for Micro Aerial Vehicles

作者：

Highlights：

• External forces estimation via nonlinear moving horizon estimation.

• Disturbance rejection of estimated forces via a nonlinear MPC.

• The proposed method compensates winds, tethered payload, and CoG variations.

• The proposed method is evaluated extensively in various experimental scenarios.

摘要

•External forces estimation via nonlinear moving horizon estimation.•Disturbance rejection of estimated forces via a nonlinear MPC.•The proposed method compensates winds, tethered payload, and CoG variations.•The proposed method is evaluated extensively in various experimental scenarios.

论文关键词：External disturbances,Non Linear Moving Horizon Estimation,Non linear Model Predictive Control

论文评审过程：Received 3 May 2021, Revised 11 January 2022, Accepted 10 March 2022, Available online 24 March 2022, Version of Record 6 April 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.116883