Feedback Linearization for Quadrotors UAV
Mauricio Alejandro Lotufo, Luigi Colangelo, and Carlo Novara
TL;DR
This paper derives a feedback-linearized model of a UAV quadrotor to support control design, combining feedback linearization with embedded model control for improved handling of nonlinear dynamics.
Contribution
It provides a detailed derivation of the feedback-linearized model of a UAV quadrotor, supporting the application of embedded model control methodology.
Findings
Derived the feedback-linearized model step-by-step
Supported the control design for UAV quadrotors
Enhanced understanding of nonlinear system control
Abstract
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.
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Taxonomy
TopicsAdaptive Control of Nonlinear Systems · Inertial Sensor and Navigation · Robotic Path Planning Algorithms