Robust Feedback Linearization Based Disturbance Observer Control of Quadrotor UAV

Abstract

This paper presents a novel Robust Feedback Linearization (RFBL) controller for Quadrotor Unmanned Aerial Vehicle (UAV) when subjected to external disturbances. A Robust Feedback Linearization controller is achieved by augmenting the conventional Feedback Linearization-based control with the Supertwisting Algorithm in the outer loop. To estimate the external disturbances acting on a quadrotor a Nonlinear Harmonic Disturbance Observer (NHDO) is patched with the robust controller. The efficacy and superiority of the results can be seen in terms of tracking error, rise time and robustness to disturbances when comparing it with other three robust controllers i.e. Integral Sliding Mode Controller (ISMC), Terminal Synergetic Controller (TSC) and Finite-Time supertwisting controller. Lyapunov’s stability analysis is performed to prove stability while numerical simulation is carried out using MATLAB/Simulink. The results are also validated by testing the system in a Hardware-In-Loop (HIL) environment on the MicroLabBox dSPACE RTI-1202 platform.

Keywords

• Disturbance observer
• quadrotor
• robust feedback linearization control
• supertwisting control