NMPC-PID% ased& ontrol6tructure' esign for $ voiding8 ncertainties in $ ttitude and$ ltitude 7 racking& ontrol of Quad-5 otor (UAV)

The extensive consideration in this research article is to utilize the advantages of two most popular control techniques which are Non-Linear Model Predictive Control (NMPC) and Proportional Integral and Derivative (PID) controller for better stabilizing of quad-rotor UAV under different noises and disturbance conditions. The idea is to satisfy the environmental and safety considerations and for that the study of noises and disturbance condition in UAV flight upon the performances of NMPC and PID respectively is being evaluated. Finally a new control method is developed by combing two techniques which can be able to handle different sort of uncertainties i.e. noises and external disturbances in quad-rotor type UAV systems. The simulation result proves that the proposed control structure technique works very well in altitude and attitude stabilization of quad-rotor under different perturbed and unperturbed conditions.

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