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Global Chartwise Feedback Linearization of the Quadcopter With a Thrust Positivity Preserving Dynamic Extension

Title
Global Chartwise Feedback Linearization of the Quadcopter With a Thrust Positivity Preserving Dynamic Extension
Author(s)
Chang, Dong-EuiEun, Yong-Soon
DGIST Authors
Eun, Yong-Soon
Issued Date
2017-09
Type
Article
Article Type
Article
Subject
AtlasDifferential FlatnessDynamic FeedbackDynamic Feedback LinearizationFeedbackFeedback LinearizationGlobal TrackingLinearizationQuad RotorsQuadcopterQuadrocopterQuadrotor
ISSN
0018-9286
Abstract
We propose a new dynamic extension of the thrust variable in the quadcopter dynamics that preserves the positive sign of the thrust. This extension not only eliminates the positive sign constraint on the thrust variable, but also leads to global chartwise feedback linearization of the quadcopter dynamics. For the latter, an atlas is first constructed on the entire state space of the quadcopter and then the dynamically extended quadcopter system is transformed to a 14-dimensional linear controllable system on each chart in the atlas. Based on the chartwise dynamic feedback linearization, a global tracking strategy is proposed for the quadcopter and its excellent performance is demonstrated with a simulation. © 1963-2012 IEEE.
URI
http://hdl.handle.net/20.500.11750/4997
DOI
10.1109/TAC.2017.2683265
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Related Researcher
  • 은용순 Eun, Yongsoon 전기전자컴퓨터공학과
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
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Appears in Collections:
Department of Electrical Engineering and Computer Science DSC Lab(Dynamic Systems and Control Laboratory) 1. Journal Articles

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