The feedback linearisation method for Embedded Model Control: The Borea project case-study

Feedback linearisation has been proved to be a powerful tool for making non-linear system dynamics fully or partially linear. This study investigates the use of the feedback linearisation approach as a novel way to design the internal model for Embedded Model Control, when applied to non-linear systems. This idea is applied to the control of an Unmanned Aerial Vehicle: the Borea project quadrotor. Embedded Model Control methodology implies the design of an internal model (Embedded Model) coded into the control unit and running in parallel with the plant. The difference between the internal model output and the plant output is used to estimate the unknown disturbances. These unknown disturbances include all the non-linearities that can be rejected by means of the control law. Using a numerical simulator, we demonstrate the feasibility of this methodology for accurate design of the internal model, starting from the non-linear system. This indicates that a feedback linearisation approach allows the extension of embedded model control techniques to non-linear systems control. What is more, the EMC is successfully applied to the control of the Borea quadrotor.