Feedback Linearization With Lqr Control Approach For Quadrotor Trajectory Tracking

A quadrotor is a type of helicopter which is lifted and propelled by four rotor.Quadrotor’srnare used for variety application due to reason of mechanically simple,small size andrnlow inertia.But controlling quadrotor is a challenging task because of non linearityrnand underactuacted character of the dynamics.rnIn this thesis work,the dynamic model of the quadrotor is derived,by using NewtonEulerrnformulation.Then a nonlinear control approach which is a feedback linearizationrntechnique is used .rnFeedback linearization technique is used to linearize both the translational and rotationalrndynamics.Here during linearization an auxiliary control inputs arises andrnthose linear control inputs are found through linear control technique called linearrnquadratic regulator.Constant trajectory tracking and rectangular trajectory trackingrnis also obtained by controlling the attitude and the position simultaneously.rnThe quadrotor dynamic model and the controller design is developed using MATLABrnsimulation and the dynamics model is tested with step input for each controlrninputs.The effectiveness of the proposed controller is tested with disturbance andrnwithout disturbance through MATLAB simulation.It is observed that,on the constantrntracking simulation result the step input response have good settling timernresponse.It achieve the desired 100m position on the settling time of x 19.42 sec, yrn19.5 sec and z 11.4 sec .

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