Improved 3D trajectory tracking by Nonlinear Internal Model-Feedback linearization control strategy for autonomous systems

Yasser Bouzid (1) , Houria Siguerdidjane (2) , Yasmina Bestaoui (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 L2S - Laboratoire des signaux et systèmes

This paper presents a nonlinear controller for 3D trajectory tracking of an autonomous helicopter. The main idea consists of combining feedback linearization controller together with a novel nonlinear IMC control. This approach allows more robustness, fast and good trajectory tracking. It is applied to a small, eight-rotor, Square-Shaped Octo-Rotor and has shown satisfactory results using adequate control architecture. The controller effectiveness is shown through numerical simulations and confirmed using a software simulator and real tests.

Mots clés: Autonomous system; Nonlinear control; Trajectory tracking

Domaines: Automatique / Robotique

Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Improved 3D trajectory tracking by Nonlinear Internal Model-Feedback linearization control strategy for autonomous systems. 6th IFAC Symposium on System Structure and Control (SSSC 2016), Jun 2016, Istambul, Turkey. pp.13--18, ⟨10.1016/j.ifacol.2016.07.480⟩. ⟨hal-01406345⟩