Cascade feedback linearization controller with actuators dynamic for trajectory tracking of flying robot

Abstract

In this paper, a feedback linearization control strategy for trajectory tracking of a quadrotor flying robot is developed. At first, the quadrotor's dynamic model is obtained by Euler-Newton approach. Through cascade feedback linearization, the rotational and the translational dynamics are linearized. Using a typical trajectory tracking control law, the dynamics of the tracking error is derived. The PD controller is used to compute the control gains that stabilize the dynamics of the tracking error. In addition, subject to validation of proposed scheme, comparison is done with linear state feedback technique. Simulation results in the presence of aerodynamic disturbances, parametric and structural uncertainties are provided to demonstrate the effectiveness of the controller in tracking. The proposed control law guarantees convergence of the quadrotor trajectory to a given reference trajectory.