@inproceedings{b27f738a325a40678c6c6776e4101f61,
title = "A feedback linearization and saturated control structure for quadrotor UAV",
abstract = "In this paper,attitude controller and position controller are investigated for a small quadrotor unmanned aerial vehicle (UAV). A feedback linearization method is proposed to design attitude tracking control of UAV, with linear extended state observer(LESO)to estimate and compensate for the disturbances. Meanwhile, a saturated control law with arc tangent functions is adopted as the position controller. Then the convergence of LESO, stability of attitude system and position system are proved. Finally, experiment results are given to illustrate the effectiveness of the proposed method.",
keywords = "Feedback linearization control, LESO, UAV",
author = "Hongru Jiang and Yuanqing Xia and Rui Hu and Dailiang Ma and Chenxi Hao",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866172",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "8277--8282",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}