A control solution for an Unmanned Aerial Vehicle encapsulating a nonlinear inner-loop based on the application of feedback linearization to the attitude and altitude dynamics is proposed in this paper. Linear quadratic controllers with integrative action are implemented not only to the resulting inner-loop chain of integrators, but also to the outer-loop, that controls the horizontal movement and, consequently, stabilizes the zero-dynamics. The required full state-feedback relies on measurements from motion sensors and on-flight estimates provided by Kalman filters and a nonlinear attitude filter. In simulation, the capacity of trajectory tracking and withstanding significant deviations of the mass and inertia values of the proposed control structure are evaluated while considering saturation and noisy measurements. The simulations results were experimentally validated using a commercially available drone. The modeling and control system architecture are validated by the experimental results. Additionally, a comparison with the results achieved with a linear control solution developed in a previous work is drawn.

提出了一种基于反馈线性化对姿态和高度动力学的应用的非线性内部环的无人飞行器控制方案。具有积分作用的线性二次控制器不仅适用于所得的积分器内环链，而且还适用于控制水平运动并因此稳定零动态的外环。所需的完整状态反馈依赖于运动传感器的测量以及卡尔曼滤波器和非线性姿态滤波器提供的飞行中估计。在仿真中，在考虑饱和度和噪声测量的情况下，评估了轨迹跟踪的能力以及承受拟议控制结构的质量和惯性值的重大偏差的能力。使用商用无人机对实验结果进行了实验验证。实验结果验证了建模和控制系统的体系结构。此外，还与先前工作中开发的线性控制解决方案所获得的结果进行了比较。