International Journal of Advanced and Applied Sciences

Int. j. adv. appl. sci.

EISSN: 2313-3724

Print ISSN: 2313-626X

Volume 4, Issue 10  (October 2017), Pages:  150-159

Original Research Paper

Title: Feedback linearization control of quadrotor with tiltable rotors under wind gusts

Author(s): Abdul-Wahid A. Saif *

Affiliation(s):

Systems Engineering Department, KFUPM, Dhahran 31261, Saudi Arabia

https://doi.org/10.21833/ijaas.2017.010.021

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Abstract:

Quadrotors are popular unmanned aerial vehicles that have a plethora of applications for civilian and military purposes. This is due to their superior agility and maneuverability which widens the span of applications. In this paper, a feedback linearization controller is designed to control all the states of the over actuated quadrotor with tilting rotors that was developed by the author and his colleagues. The controller is introduced in a novel approach that overcomes the problem of nonlinear inputs and that decouples the system into completely two independent subsystems while rejecting wind gusts. In addition, an optimization algorithm is introduced to choose among the possible sets of inputs based on energy consumption minimization. The results demonstrate that the quadrotor with tilted rotor can effectively attain the desired trajectory in the presence of wind disturbance. 

© 2017 The Authors. Published by IASE.

This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Keywords: Quadrotor, UAV, Tilting rotor modeling, Feedback linearization, Optimization, Wind gust

Article History: Received 6 June 2017, Received in revised form 15 August 2017, Accepted 10 September 2017

Digital Object Identifier: 

https://doi.org/10.21833/ijaas.2017.010.021

Citation:

Saif  AWA (2017). Feedback linearization control of quadrotor with tiltable rotors under wind gusts. International Journal of Advanced and Applied Sciences, 4(10): 150-159

Permanent Link:

http://www.science-gate.com/IJAAS/V4I10/Saif.html

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