Adaptive feedback linearization controller for stabilization of Quadrotor UAV

Abstract

Due to the various applications of the quadrotor unmanned aerial vehicle (UAV) systems increase daily, the researchers recently granted it considerable attention. In this manuscript, the mathematical model of the quadrotor UAV has been presented. The feedback linearization (FBL) technique is implemented to linearize the attitude and altitude dynamic equations of the quadrotor UAV. The proportional-integral-derivative (PID) controller is designed to the obtained linearized model (attitude and altitude subsystems). The quadrotor UAV that used for outdoor applications is influenced by the wind guest disturbances and parameter uncertainties, which result in the deterioration of the PID controller performance, and gain re-tuning is required. Therefore, for a robust performance against the wind disturbance and the parameter uncertainties, the adaptive feedback linearization (AFBL) is proposed and implemented to stabilize the quadrotor attitude and altitude subsystems. The parameter uncertainties have been adaptively estimated based on the Lyapunov stability function, which was able to cancel the quadrotor system uncertainties. The proposed controller has been evaluated by simulation Matlab/Simulink and provided better performance against parameter uncertainties and wind guest disturbances, where the error in the attitude and altitude have been reduced about % 82 and % 53, respectively, compared to the conventional exact FBL controller.