Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV


  • Mohd Fuaad Rahmat Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai Johor
  • Ahmed Eltayeb
  • Mohd Ariffanan Mohd Basri


Quadrotor UAV, adaptive feedback linearization, PID control, Lyapunov funcation, Robustness.


Due to the various applications of the quadrotor UAV systems increase in a daily basis, the researchers recently granted it a great attention. In this paper, the mathematical model of the quadrotor UAV has been presented. Then, the feedback linearization technique is used to linearize the attitude/altitude dynamic equations of the quadrotor. The PID controller is applied to the linearized model (attitude/altitude subsystems). However, for a robust performance against the wind disturbance and the model parameter uncertainty, the adaptive feedback linearization is proposed and implemented to the attitude/altitude subsystems, and the stability approach of the proposed controller was derived based on a candidate Lyapunov function. Finally, the proposed controller has been tested and verified by simulation Matlab/Simulink and shows a good performance against both uncertainties and disturbances.


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How to Cite

Rahmat, M. F., Eltayeb, A., & Mohd Basri, M. A. (2020). Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV. International Journal of Integrated Engineering, 12(4), 1–17. Retrieved from