Feedback Linearization and Eigenstructure Assignment Control for Quadcopter Trajectory Tracking

Abstract

A quadcopter is a highly coupled and nonlinear multivariable system which attracted the attention of many researchers. During the last decade, several techniques and strategies have been proposed for modeling and controlling Quadcopters. In this work, dynamic modelling of the quadcopter is formulated using the Newton-Euler method, and a new control approach for quadcopter trajectory tracking is proposed. In this approach, the state space description of nonlinear quadcopter system is transformed into a linear quasi block controller decoupled form, then eigenstructure assignment using state feedback is applied. The proposed approach is used to control a quadcopter, in order to assess its performance in terms of trajectory tracking capabilities, time response performance, robustness and robust stability.