Feedback Linearization for Quadrotors UAV

Feedback Linearization for Quadrotors UAV

In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback Linearization (FL); when applied to non-linear systems....

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Veröffentlicht in:arXiv.org 2019-06
Hauptverfasser: Lotufo, Mauricio Alejandro, Colangelo, Luigi, Novara, Carlo
Format: Artikel
Sprache:eng
Schlagworte:
Feedback linearization
Linear systems
Nonlinear systems
Rotary wing aircraft
Unmanned aerial vehicles
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Beschreibung
Zusammenfassung:In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback Linearization (FL); when applied to non-linear systems. Specifically, [1] proposes to use the FL as a novel way to design the internal model for the EMC state and disturbance predictor. To support the treatise in [1], in this report the feedback-linearized model of the UAV quadrotor leveraged in [1] is step-by-step derived.
ISSN:2331-8422