Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV
Keywords:
Quadrotor UAV, adaptive feedback linearization, PID control, Lyapunov funcation, Robustness.Abstract
Due to the various applications of the quadrotor UAV systems increase in a daily basis, the researchers recently granted it a great attention. In this paper, the mathematical model of the quadrotor UAV has been presented. Then, the feedback linearization technique is used to linearize the attitude/altitude dynamic equations of the quadrotor. The PID controller is applied to the linearized model (attitude/altitude subsystems). However, for a robust performance against the wind disturbance and the model parameter uncertainty, the adaptive feedback linearization is proposed and implemented to the attitude/altitude subsystems, and the stability approach of the proposed controller was derived based on a candidate Lyapunov function. Finally, the proposed controller has been tested and verified by simulation Matlab/Simulink and shows a good performance against both uncertainties and disturbances.
Downloads
Downloads
Published
Issue
Section
License
Open access licenses
Open Access is by licensing the content with a Creative Commons (CC) license.
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.