A Tracking Control of a Quadrotor via Pole Placement Technique based on Presence of a Diffeomorphism

Interest in applying flying robots especially quadcopters for civil purposes has dramatically grown in the last decade. In fact, since quadcopters are capable of vertical takeoff and landing (VTOL), they can be widely employed for nearly any aerial task where a human presence is hazardous or response time is critical. This paper is concerned with a tracking control design of a quadrotor via Pole Placement Technique based on presence of a diffeomorphism. To this end, after dynamic modeling of the flying robot using Newton-Euler equations, the state space form of the acquired final model as well as the signal controls are presented. Since the main objective of this work is to track the smooth reference signals, the differential equations described the dynamics of the system, based on our proposed approach, should be transformed from the state space into input-output space. So, the output controllability of the system, as well as the presence of a diffeomorphism between two state spaces are considered, respectively. Finally, a tracking control design via Pole Placement Technique, in the presence and absence of uncertainty, is proposed.