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Control of Quadrotor Unmanned Aerial Vehicles Using Exact Linearization Technique with the Static State Feedback

Yasuhiko Mutoh and Shusuke Kuribara
Department of Engineering and Applied Sciences, Sophia University, Tokyo, Japan
Abstract—It is known that the exact linearization technique by the static state feedback can not be applied to the quadrotor unmanned aerial vehicle (q-UAV), and also that, to apply this control technique, the total dynamic equations of q-UAV should be augmented by introducing two integrators. In this paper, we present a method to apply the exact linearization technique to the q-UAV without augmenting its dynamic model. For this purpose, using the vertical dynamic equation, the vertical position control input is designed separately so that the vertical acceleration is piecewise constant. By using this controller, the vertical dynamic equation and the rest of the total dynamic equations can be decoupled. It will be shown that the exact linearization technique by the static state feedback can be applied to the rest of the total equations. The simulation result will be presented to show the validity of this controller.

Index Terms—quadrotor aerial vehicle, nonlinear control system, exact linearization, decoupling control

Cite: Yasuhiko Mutoh and Shusuke Kuribara, "Control of Quadrotor Unmanned Aerial Vehicles Using Exact Linearization Technique with the Static State Feedback," Jounal of Automation and Control Engineering, Vol. 4, No. 5, pp. 340-346, October, 2016. doi: 10.18178/joace.4.5.340-346
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