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Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics

Title
Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics
Authors
Chang, D.E.[Chang, Dong Eui]Eun, Y.[Eun, Yongsoon]
DGIST Authors
Eun, Y.[Eun, Yongsoon]
Issue Date
2014
Citation
2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, 2015-February(February), 686-691
Type
Conference
Article Type
Conference Paper
ISSN
0743-1546
Abstract
We provide a global framework for flatness-based motion planning and dynamic feedback linearization of the quadcopter dynamics. It allows us to avoid the singularity difficulty that comes from the use of the yaw angle in flat output construction and dynamic feedback linearization. We construct eight differentially flat charts the union of which covers the entire configuration space of the quadcopter dynamics so that we can do global motion planning without encountering any singularity. In each differentially flat chart we transform the 12-dimensional quadcopter system via dynamic feedback to a 14-dimensional linear controllable system, which makes tracking controller design straightforward, so that we can switch from one controller to another to track a globally planned trajectory. The central theme of this paper is the global approach to the quadcopter motion planning and tracking. © 2014 IEEE.
URI
http://hdl.handle.net/20.500.11750/3781
DOI
10.1109/CDC.2014.7039461
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)2. Conference Papers


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