Quadrotor Altitude Control Using Differential Flatness and Feedback Linearization Under Disturbance

Abstract

Quadrotor has recently received much attention because of many applications such as disaster monitoring, reconnaissance. For these applications, altitude control of quadrotor is an important task. The challenge of quadrotor altitude control is that quadrotor altitude dynamics is coupled ,vith roll and pitch motions which have non-linear characteristic and quadrotor controller usually use PD type controller which has weakness under disturbance such as wind. Motion planning is important for quadrotor control. Reference tra』ectones inconsistent with feasible motion of the quadrotor and disturbance make controller design difficult and result in poor tracking performance. In this work, we consider motion planning and an altitude controller that restricts the vehicle center of mass on a horizontal plane with fixed altitude while human is controlling the angle of the quadrotor under disturbance. So we consider altitude control of quadrotor dynamics model by Euler-Newton Equation. Then, differential flatness is presented for altitude reference. Finally, feedback linearization controller is designed for altitude control. Results are validated using MATLAB simulations.