D23 Adaptive Tracking Control of Four-rotor Mini Helicopter Based on Exact Feedback Linearization

Abstract

This paper considers the problem of controlling both the position and the attitude of a four-rotor mini helicopter. The four-rotor mini helicopter is described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainties. This paper presents a new adaptive tracking controller based on backstepping technique, exact feedback linearization and optimal control for position tracking. This controller can make to converge to zero the tracking error of the position and the yaw angle exponentially. A numerical simulation is performed to evaluate the effectiveness of the proposed controller.