Adding disturbance estimation to a soft-constrained MPC controller cuts peak position error during 10-12 m/s wind gusts by 71-78% versus a PID baseline, and an EKF matches a UKF at 2.5x lower compute.
An integral predic- tive/nonlinear H control structure for a quadrotor helicopter,
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Disturbance Estimation and Rejection for High-Precision Multirotor Position Control
Adding disturbance estimation to a soft-constrained MPC controller cuts peak position error during 10-12 m/s wind gusts by 71-78% versus a PID baseline, and an EKF matches a UKF at 2.5x lower compute.