Abstract
This paper presents an optimal control method of an unmanned aerial vehicle (UAV) with the aid of feedback linearization. As is well known, the feedback linearization is one of the effective techniques to cope with the nonlinearity of dynamical systems. Since the UAV is an underactuated nonlinear system, it is impossible to exactly linearize the dynamics of the UAV. Therefore, we take an approach to linearize only the translational motion, and then apply the linear optimal control to it. We apply this approach to the landing control problem of the UAV to a moving ground vehicle. The effectiveness of the proposed method is verified by a numerical simulation.
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