Nonlinear Generalized Predictive Control for a Novel Thrust-vectoring Hexarotor Using Super-twisting ESO

Thrust-vectoring multirotor is the current cutting-edge focus of research in the field of multirotor. This technology promises advancements such as over-actuated dynamics, decoupling of position and attitude control, and the ability to track 6-Dof trajectories. Building upon our previous work on thrust-vectoring quadrotor, this paper introduces a novel thrust-vectoring hexarotor configuration. We propose a nonlinear generalized predictive control method utilizing the super-twisting extended state observer (STESO). The stability of our closed-loop system is rigorously established through theoretical analysis. To validate the practical applicability of our approach, simulation for 6-Dof trajectory tracking of the thrust-vectoring hexarotor is conducted using sophisticated high-fidelity dynamics simulation software. This simulation serve to affirm the effectiveness of our proposed system in achieving precise trajectory control and maneuverability in various flight scenarios.