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.
Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV
2020-04-30
International Journal of Integrated Engineering; Vol 12 No 4 (2020); 1-17 ; 2600-7916 ; 2229-838X
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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