Dynamic inversion of quadrotor with zero-dynamics stabilization

For a typical quadrotor model, one can identify the two well known inherent rotorcraft characteristics; under-actuation and strong coupling in pitch-yaw-roll. To confront these problems and design a station-keeping tracking controller, dynamic inversion is used here. Typical applications of dynamic inversion require the selection of the output control variables to render the internal dynamics stable. This means that in many cases tracking can not be guaranteed for the actual desired outputs. Instead, here, the internal dynamics of the feedback linearized system is stabilized with a robust control term. Stability and tracking performance are guaranteed using a Lyapunov-type proof. The approach could be called ldquoforward steppingrdquo in contrast with the well known backstepping design. Simulation with a typical nonlinear quadrotor dynamic model is performed to show the effectiveness of the designed control law in the presence of noise and disturbances.

[1]  Rogelio Lozano,et al.  Modelling and Control of Mini-Flying Machines , 2005 .

[2]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[3]  A. Benallegue,et al.  Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[4]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[5]  Abdelaziz Benallegue,et al.  Backstepping Control for a Quadrotor Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Robert E. Mahony,et al.  Control of a quadrotor helicopter using visual feedback , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  B. Bijnens,et al.  Adaptive feedback linearization flight control for a helicopter UAV , 2005 .

[8]  Abdelaziz Benallegue,et al.  Exact linearization and sliding Mode observer for a quadrotor Unmanned Aerial Vehicle , 2006, Int. J. Robotics Autom..

[9]  Frank L. Lewis,et al.  Aircraft Control and Simulation , 1992 .

[10]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[11]  S. Sastry,et al.  Output tracking control design of a helicopter model based on approximate linearization , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).