Different linearization control techniques for a quadrotor system

In this paper, we propose different linearization control algorithms to solve the stabilization problem of the quadrotor. First we introduce the nonlinear model of the quadrotor. Then using tangent linearization method, a linear model is generated of the system where decentralized and centralized LQ...

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Bibliographic Details
Main Authors: Belkheiri, M., Rabhi, A., Hajjaji, A. E., Pegard, C.
Format: Conference Proceeding
Language:English
Subjects:
Aerodynamics
Equations
Feedback linearization
LQR
Mathematical model
Quadrotor
Rotors
Simulation
Stability
Trajectory
Vectors
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Summary:In this paper, we propose different linearization control algorithms to solve the stabilization problem of the quadrotor. First we introduce the nonlinear model of the quadrotor. Then using tangent linearization method, a linear model is generated of the system where decentralized and centralized LQR control methods are applied. The second strategy is based on exact feedback linearization of the nonlinear model of the quadrotor. The comparison between these methods is highlighted by simulations to show effectiveness of the proposed methods.
DOI:10.1109/CCCA.2012.6417914