Feedback Linearization Controller with Thau Observer Applied to an Autonom

This research presents a new control method for a twinrotor MIMO system that models the behavior of a helicopter. The control strategy combines feedback linearization with a non-linear observer called the Thau Observer and takes full advantage of the system‘s state information. The proposed method is tested in both simulated and real-world experiments, and it is evaluated for its ability to perform regulation and trajectory tracking tasks. The results demonstrate the effectiveness and superior performance of the proposed control method in controlling twin-rotor MIMO systems.

The main advantage of the proposed method is its nonlinear control, which has more power and uses more precise physical parameters of the system than the linearized model.