Feedback Linearization for Quadrotors with a Learned Acceleration Error Model
Alexander Spitzer Nathan Michael Alexander Spitzer Nathan Michael
This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization controllers are theoretically appealing but their performance suffers on real systems, where the true system does not match the known system model. We take a step in reducing these robustness issues by learning an accele...