tailieunhanh - Control of quadrotor unmanned aerial vehicles using exact linearization technique with the static state feedback

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. | Journal of Automation and Control Engineering Vol. 4, No. 5, October 2016 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 Email: y_mutou@, s-kuribara@ 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 I. INTRODUCTION the system of degree 12, the controller should be designed for the augmented system of degree 14. In this paper, we assume that, using the vertical dynamic equation, the vertical position control is designed separately so that the vertical acceleration is piecewise constant. By using such a control input, the system of the vertical motion and the rest of the total system are almost decoupled. The latter system is also an Affine nonlinear system with degree 10. And, it will be shown that this latter dynamic system is exact linearizable by the static state feedback. This implies .