Abstract
In this paper, some essential dynamical and structural features of multicopters’ control systems with the feedback linearization are discussed. The feedback linearization of the multicopter nonlinear dynamics is extensively used in the development of adaptive control, predictive control, fault-tolerant control in case of motors efficiency degradation, etc. It is shown that using the feedback linearization leads, if no motors degradations, to complete compensation of kinematic and dynamic cross-couplings between separate channel. This reduces the design of the multicopter control system to the design of four independent SISO channels, namely, the altitude, roll, pitch, and yaw channels. The occurrence of motors degradation results in nonlinear cross-coupled dynamics of the multicopter and restricts, to a certain extent, the subsequent application of adaptive and predictive control, as well some other control methodologies.
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Gasparyan, O.N. (2020). On Application of Feedback Linearization in Control Systems of Multicopters. In: Misyurin, S., Arakelian, V., Avetisyan, A. (eds) Advanced Technologies in Robotics and Intelligent Systems. Mechanisms and Machine Science, vol 80. Springer, Cham. https://doi.org/10.1007/978-3-030-33491-8_41
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DOI: https://doi.org/10.1007/978-3-030-33491-8_41
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