A Feedback Linearization and Saturated Control Structure for Quadrotor UAV

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