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DC Field Value Language Chang, Dong-Eui - Eun, Yong-Soon - 2018-01-25T01:05:41Z - 2018-01-25T01:05:41Z - 2017-09-18 - 2017-09 -
dc.identifier.issn 0018-9286 -
dc.identifier.uri -
dc.description.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. -
dc.language English -
dc.title Global Chartwise Feedback Linearization of the Quadcopter With a Thrust Positivity Preserving Dynamic Extension -
dc.type Article -
dc.identifier.doi 10.1109/TAC.2017.2683265 -
dc.identifier.scopusid 2-s2.0-85029848559 -
dc.identifier.bibliographicCitation IEEE Transactions on Automatic Control, v.62, no.9, pp.4747 - 4752 -
dc.description.isOpenAccess FALSE -
dc.subject.keywordAuthor Atlas -
dc.subject.keywordAuthor differential flatness -
dc.subject.keywordAuthor dynamic feedback linearization -
dc.subject.keywordAuthor global tracking -
dc.subject.keywordAuthor quadcopter -
dc.subject.keywordAuthor quadrocopter -
dc.subject.keywordAuthor quadrotor -
dc.subject.keywordPlus Atlas -
dc.subject.keywordPlus Differential Flatness -
dc.subject.keywordPlus Dynamic Feedback Linearization -
dc.subject.keywordPlus Global Tracking -
dc.subject.keywordPlus Quadcopter -
dc.subject.keywordPlus Quadrocopter -
dc.subject.keywordPlus Quadrotor -
dc.citation.endPage 4752 -
dc.citation.number 9 -
dc.citation.startPage 4747 -
dc.citation.title IEEE Transactions on Automatic Control -
dc.citation.volume 62 -
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Department of Electrical Engineering and Computer Science DSC Lab(Dynamic Systems and Control Laboratory) 1. Journal Articles


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