Feedforward Model Predictive Control for Quadrotor Rejection of Discrete Gusts

Feedforward model predictive control was employed to demonstrate the effectiveness of a receding horizon approach, when mitigating the effects of discrete gusts on a quadrotor platform. Without gust previewing, the quadrotor experiences saturation of the actuator input rates, as it attempts to reject the impact of a discrete gust. When gust previewing is active, the vehicle responds in advance to progressive gust immersion by generating a large angular velocity which is arrested by the oncoming gust. This action results in reduced displacement of the vehicle, accompanied by a smaller input range and near elimination of rate saturation.