Estabilidade de voo de um quadrirrotor: Controle de linearização por realimentação com rastreamento linear quadrático

Abstract

This paper presents the dynamics of a quadrotor and a control law is designed to the desired trajectory tracking. The quadrirotor is an underactuated system and because of that it presents a greater difficulty in controlling its position. The proposed control law is based on feedback linearization control together with the Linear Quadratic Tracking method (LQT from English and RLQ from Portuguese). Feedback linearization control uses an input-output decoupling and this makes possible to design a linear control for the quadrotor to perform the desired trajectory tracking. The simulation results showed that the proposed control presents satisfactory results in the trajectory tracking. The control technique approach developed in this work, in which the joint application of feedback linearization with the RLQ is presented is not commonly found in the control literature for quadrotor application, therefore, the quadrirotor flight control area is being extended with the control law proposed in this work.