Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV
Ahmed Eltayeb, M. F. Rahmat, Mohd Ariffanan Mohd Basri
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.