Feedback Linearization for Quadrotors UAV
Systems and Control
2019-06-12 v1 Systems and Control
Abstract
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback Linearization (FL); when applied to non-linear systems. Specifically, [1] proposes to use the FL as a novel way to design the internal model for the EMC state and disturbance predictor. To support the treatise in [1], in this report the feedback-linearized model of the UAV quadrotor leveraged in [1] is step-by-step derived.
Cite
@article{arxiv.1906.04263,
title = {Feedback Linearization for Quadrotors UAV},
author = {Mauricio Alejandro Lotufo and Luigi Colangelo and Carlo Novara},
journal= {arXiv preprint arXiv:1906.04263},
year = {2019}
}