Trajectory Tracking Control of a Quadrotor Using Feedback Linearization

Abstract: This paper presents a nonlinear trajectory tracking control design for a quadrotor helicopter using feedback linearization. The quadrotor dynamics consists of two equations of motion, one for the translation and the other for the rotation. The dynamics for the rotational motion is fully actuated and decoupled from the equations for the translational motion. On the other hand, the translational dynamics is underactuated and depends on the rotational dynamics. In the first step of the control design, a feedback linearization law is used to linearize the rotational dynamics. Then, it is shown that an auxiliary control input that arises during that step can be used to linearize the translational dynamics through a second feedback linearization law. The small angle approximation is not required in this design. The proposed control law guarantees convergence of the quadrotor trajectory to a given reference trajectory. Numerical results show the benefits of the proposed control scheme.

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