Different linearization control techniques for a quadrotor system

Author

Belkheiri, M. ; Rabhi, A. ; Hajjaji, A.E. ; Pegard, Claude

Author_Institution

Dept. of Electron., Univ. of Amar Telidji, Laghouat, Algeria

fYear

2012

fDate

6-8 Dec. 2012

Firstpage

1

Lastpage

6

Abstract

In this paper, we propose different linearization control algorithms to solve the stabilization problem of the quadrotor. First we introduce the nonlinear model of the quadrotor. Then using tangent linearization method, a linear model is generated of the system where decentralized and centralized LQR control methods are applied. The second strategy is based on exact feedback linearization of the nonlinear model of the quadrotor. The comparison between these methods is highlighted by simulations to show effectiveness of the proposed methods.

Keywords

aerodynamics; autonomous aerial vehicles; decentralised control; feedback; linear quadratic control; linearisation techniques; mobile robots; nonlinear control systems; robot dynamics; stability; centralized LQR control method; decentralized LQR control method; exact feedback linearization; linearization control technique; quadrotor nonlinear model; quadrotor stabilization problem; quadrotor system; tangent linearization method; Aerodynamics; Equations; Mathematical model; Rotors; Simulation; Trajectory; Vectors; Feedback linearization; LQR; Quadrotor; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Computing and Control Applications (CCCA), 2012 2nd International Conference on

Conference_Location

Marseilles

Print_ISBN

978-1-4673-4694-8

Type

conf

DOI

10.1109/CCCA.2012.6417914

Filename

6417914