Robust control of UAV coaxial rotor by using exact feedback linearization and PI-observer

  • Nkouagnou Calin Joel
  • Haman Djalo
  • Kenfack Jiotsa Aurelien


This paper presents a nonlinear trajectory tracking control design of a coaxial rotor unmanned aerial vehicle (UAV) using exact feedback linearization and PI-observer. Coaxial rotor disturbed dynamics is modelled by two equations of motion, one for translation and the other for the rotation. The exact feedback linearization is used to linearize the system in terms of input–output and the PI-observer is used to estimate vector state and unknown inputs of the system. The proposed control law guarantees convergence of the coaxial rotor UAV to a given reference trajectory in spite of disturbances. Numerical simulations are given to validate the obtained results.


Coaxial rotor Unmanned aerial vehicle Nonlinear control Feedback linearization PI-observer 


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© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Laboratory of Electronics Electrotechnics and AutomaticsUniversity of NgaoundéréNgaoundéréCameroon
  2. 2.Laboratory of Mechanics of Complex SystemsUniversity of Yaoundé1YaoundéCameroon

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