A Feedback Linearization Approach for Path Trajectory Tracking of Quadrotor

Unmanned aerial vehicles (UAVs) are being used more often for military and civilian purposes such as traffic monitoring, patrolling for forest fires, surveillance, and rescue, in which risks to pilots are often high. Rotorcraft have an evident advantage over fixed-wing aircraft for various applications because of their vertical landing/take-off capability and payload. Among the rotorcraft, quadrotor can usually afford a larger payload than conventional helicopters due to four rotors. Designing auto pilot with the aim of doing autonomously the desired missions can be introduced as an important field of quadrotors investigations. In this work, trajectory tracking of a quadrotor UAV is obtained by controlling attitude and position. Where, the Feedback Linearization method is used. As a first step, nonlinear 6 DOF dynamic model of quadrotor is presented. Then, Feedback Linearization (FBL) method is utilized for redefining the linearized dynamic model. Then, with the aim of being capable to stabilize and track the desired path trajectories, an Inverse Dynamic Controller is proposed. At last, a mission is designed and simulated to propose the application rate of designed controller.