Quadrotor control using feedback linearization with dynamic extension

@article{AlHiddabi2009QuadrotorCU,
  title={Quadrotor control using feedback linearization with dynamic extension},
  author={Saif A. Al-Hiddabi},
  journal={2009 6th International Symposium on Mechatronics and its Applications},
  year={2009},
  pages={1-3}
}
The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system. Simulation results are provided to demonstrate the effectiveness of the nonlinear controller in… CONTINUE READING
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