Robust Feedback Linearization Based Disturbance Observer Control of Quadrotor UAV
Mohammad Sadiq, Rameez Hayat, Kamran Zeb, Ahmed Al‐Durra, Zahid Ullah
Abstract
This paper presents a Robust Feedback Linearization (RFBL) controller for Quadrotor Unmanned Aerial Vehicle (UAV) when subjected to external disturbances. A Robust Feedback Linearization controller is achieved by augmenting the conventional Feedback Linearization based control with Supertwisting Algorithm in the outer loop. To estimate the external disturbances acting on a quadrotor a Nonlinear Harmonic Disturbance Observer (NHDO) is patched with the robust controller. The efficacy and superiority of the results can be seen in terms of tracking error, rise time and robustness to disturbances when comparing it with other three robust controllers i.e. Integral Sliding Mode, Terminal synergetic and Finite-Time supertwisting controller. Lyapunov’s analysis is used to prove stability while numerical simulation is done using MATLAB/Simulink. The results are also validated by testing the system in a Hardware-In-Loop (HIL) environment on MicroLabBox dSPACE RTI-1202 platform.