Robust tracking control of aerial robots via a simple learning strategy-based feedback linearization

• Main Authors: Mehndiratta, Mohit, Kayacan, Erkan, Reyhanoglu, Mahmut, Kayacan, Erdal
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Feedback Linearization Control; Nonlinear System
• Online Access: https://hdl.handle.net/10356/145877
• Institution: Nanyang Technological University

To facilitate accurate tracking in unknown/uncertain environments, this paper proposes a simple learning (SL) strategy for feedback linearization control (FLC) of aerial robots subject to uncertainties. The SL strategy minimizes a cost function defined based on the closed-loop error dynamics of the...