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

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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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2017-09
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v.62, no.9, pp.4747 - 4752

ISSN
0018-9286
DOI
10.1109/TAC.2017.2683265
URI
http://hdl.handle.net/10203/225980
Appears in Collection
EE-Journal Papers(저널논문)
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