A Novel Anti-Disturbance Control Framework for Bidirectional Quadrotors

Quadrotors frequently encounter sudden external forces during flight, often resulting in loss of control and crashes. Conventional control algorithms typically fail to effectively handle these large external disturbances. To address this issue, we propose a novel control framework that integrates Model Predictive Control (MPC) with Active Disturbance Rejection Control (ADRC), alongside a bidirectional thrust geometric control algorithm. When the external force remains within a predefined threshold, the quadrotor utilizes the disturbance rejection capabilities of ADRC to maintain stability. Conversely, if the force exceeds this threshold, the quadrotor leverages the external force to execute a complete <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{1 8 0}$</tex>-degree flip to regain equilibrium. Simulation results are presented to demonstrate the superior performance of the proposed control framework in handling large external disturbances.