Quadrotor control using dynamic feedback linearization based on piecewise bilinear models

This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.