第三十八届中国控制会议论文集（6）中国自动化学会控制理论专业委员会会议论文集

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A Feedback Linearization and Saturated Control Structure for Quadrotor UAV

Hongru Jiang;Yuanqing Xia;Rui Hu;Dailiang Ma;Chenxi Hao;School of Automation, Beijing Institute of Technology;

Abstract: In this paper, attitude controller and position controller are investigated for a small quadrotor unmanned aerial vehicle（UAV）. A feedback linearization method is proposed to design attitude tracking control of UAV, with linear extended state observer（LESO） to estimate and compensate for the disturbances. Meanwhile, a saturated control law with arc tangent functions is adopted as the position controller. Then the convergence of LESO, stability of attitude system and position system are proved.Fi... More

Keywords：

UAV; Feedback linearization control; LESO;

Conference Name：

第三十八届中国控制会议

Conference Time：

2019-07-27

Conference Place：

中国广东广州

Series：
(C) Architecture/ Energy/ Traffic/ Electromechanics, etc
Subject：
Aeronautics and Astronautics Science and Engineering; Aeronautics and Astronautics Science and Engineering
Classification Code：
V279;V249.1

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