Control design of an UAV–Q based on feedback linearization and optimum modulus methods

In the paper, we present the formulation of quadrotor control loops that are based on a decomposition into a cascade structure and the use of feedback linearization and optimum modulus methods to determine controller parameters. The dynamic model used in this paper considers the dynamics of the propeller rotor drive systems. The propeller rotor drive systems are considered as a linear actuated system. After the synthesizing of the controllers is completed, the system is simulated in MATLAB/Simulink. The results from this work can be useful for the development of autonomous algorithms for UAV-Q (Unmanned Aerial Vehicle Quadrotor). The research results serve as the basis for control algorithms development for other similar systems.

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Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).