2019/06/10 by Mauricio Alejandro Lotufo, Lotufo, Mauricio Alejandro, Luigi Colangelo +3
Engineering · Computer Science · #Adaptive Control of Nonlinear Systems #Inertial Sensor and Navigation #Robotic Path Planning Algorithms
paper · pdf · doi:10.48550/arxiv.1906.04263
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.