Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang, Dong-Eui | - |
dc.contributor.author | Eun, Yong-Soon | - |
dc.date.accessioned | 2018-01-25T01:05:41Z | - |
dc.date.available | 2018-01-25T01:05:41Z | - |
dc.date.created | 2017-09-18 | - |
dc.date.issued | 2017-09 | - |
dc.identifier.issn | 0018-9286 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/4997 | - |
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.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
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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