COMPARISON OF TOW FEEDBACK LINEARIZATION METHOD AIMED AT POSITION TRACKING CONTROL FOR A NOVEL SIX-ROTOR UAV

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TOFIGH MOHAMAD ALI; MAHJOOB MOHAMMAD; AYATI MOOSA

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:9 Page(s): 199-208

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Title

COMPARISON OF TOW FEEDBACK LINEARIZATION METHOD AIMED AT POSITION TRACKING CONTROL FOR A NOVEL SIX-ROTOR UAV

Author(s)

TOFIGH MOHAMAD ALI | MAHJOOB MOHAMMAD | AYATI MOOSA | Issue Writer Certificate

Keywords

UNMANNED AERIAL VEHICLEQ2

SIX-ROTOR AIRCRAFTQ1

MODIFIED QUADROTORQ2

FEEDBACK LINEARIZATIONQ2

Abstract

In this paper, modeling and FEEDBACK LINEARIZATION controller for trajectory tracking of a novel sixrotor UAV (UNMANNED AERIAL VEHICLE) is developed. Because of the very simple structure and high maneuverability, quadrotors are one of the most preferred types of UAVs but the main problem in using them is their small payload. In the proposed novel model, two coaxial propellers are added to the center of vehicle to improve the ability of lifting heavier payloads, and to surpass anticrosswind capability of quadrotor, while the dynamic and steering principle is preserved. The dynamic model is obtained via Newton Euler approach. Model is under actuated, nonlinear, and has strongly coupled terms. Also, two types of nonlinear controllers are presented. The first is a conventional input-output FEEDBACK LINEARIZATION controller which involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second controller is a FEEDBACK LINEARIZATION based on the hierarchical control strategy that yields easier controller. To compensate actuator’s dynamic and moreover, to avoid complexity of controller, a two-stage algorithm is utilized. The obtained simulation results confirm that the performance of hierarchical controller is more convenient in terms of position tracking and disturbance rejection than conventional controller.

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APA: Copy

TOFIGH, MOHAMAD ALI, MAHJOOB, MOHAMMAD, & AYATI, MOOSA. (2015). COMPARISON OF TOW FEEDBACK LINEARIZATION METHOD AIMED AT POSITION TRACKING CONTROL FOR A NOVEL SIX-ROTOR UAV. MODARES MECHANICAL ENGINEERING, 15(9), 199-208. SID. https://sid.ir/paper/179016/en

Vancouver: Copy

TOFIGH MOHAMAD ALI, MAHJOOB MOHAMMAD, AYATI MOOSA. COMPARISON OF TOW FEEDBACK LINEARIZATION METHOD AIMED AT POSITION TRACKING CONTROL FOR A NOVEL SIX-ROTOR UAV. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(9):199-208. Available from: https://sid.ir/paper/179016/en

IEEE: Copy

MOHAMAD ALI TOFIGH, MOHAMMAD MAHJOOB, and MOOSA AYATI, “COMPARISON OF TOW FEEDBACK LINEARIZATION METHOD AIMED AT POSITION TRACKING CONTROL FOR A NOVEL SIX-ROTOR UAV,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 9, pp. 199–208, 2015, [Online]. Available: https://sid.ir/paper/179016/en

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