Abstract
Quadrotor Unmanned Aerial Vehicles (UAVs) are inherently underactuated, as they are expected to track six outputs using only four rotors. Due to their nonlinear dynamics, nonlinear control techniques have gained popularity for controlling quadrotors. This study, therefore, compares two prominent nonlinear control methods: adaptive Feedback Linearization (FBL) and robust Sliding Mode Control (SMC). Lyapunov stability analysis was conducted to validate the control design, followed by MATLAB/SIMULINK simulations. The results show that adaptive FBL demonstrated superior performance in position and attitude tracking compared to its robust SMC counterpart based on the root mean square error metric.
| Original language | English |
|---|---|
| Title of host publication | 2024 3rd International Conference on Mechanical Engineering and Power Engineering, MEPE 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 123-127 |
| Number of pages | 5 |
| ISBN (Electronic) | 9798331532055 |
| DOIs | |
| State | Published - 2024 |
| Event | 3rd International Conference on Mechanical Engineering and Power Engineering, MEPE 2024 - Wuhan, China Duration: 28 Dec 2024 → 30 Dec 2024 |
Publication series
| Name | 2024 3rd International Conference on Mechanical Engineering and Power Engineering, MEPE 2024 |
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Conference
| Conference | 3rd International Conference on Mechanical Engineering and Power Engineering, MEPE 2024 |
|---|---|
| Country/Territory | China |
| City | Wuhan |
| Period | 28/12/24 → 30/12/24 |
Bibliographical note
Publisher Copyright:© 2024 IEEE.
Keywords
- Feedback Linearization
- Nonlinear Control
- Quadrotor
- Sliding Mode Control
- Unmanned Aerial Vehicles
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Computational Mechanics
- Electrical and Electronic Engineering
- Mechanical Engineering