Hexarotor Attitude Stabilization Based Feedback Linearization and Sliding Mode Controllers

In this paper, a mathematical model of a rotary wing UAV known as HEXAROTOR is derived using Newton-Euler formalism, it takes in count the forces, aerodynamic moments and rotor's dynamics affecting the UAV motions. Feedback linearization and sliding mode controllers are synthesized in order to stabilize the attitude while tracking yaw and altitude trajectories of the hexarotor. A comparative study has been explored in terms of instant performances, perturbation rejection, energy consumption and parameters uncertainties. Numerical simulations are performed showing the efficiency of the two proposed control techniques.