Feedback linearization control of quadrotor with tiltable rotors under wind gusts

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. (c) 2017 The Authors. Published by IASE.