A New Bundle Picture for the Drone

Abstract

A new S-1 principal bundle over a vector space with the origin removed is constructed for the drone with the yaw dynamics evolving on the S-1 fiber, and the remaining part of drone dynamics on the base space. Two local trivializations are constructed to cover the whole bundle such that on each trivialization the drone dynamics is transformed via dynamic feedback to a linear controllable system with the yaw dynamics decoupled from the rest of the drone dynamics to make easy the design of drone trajectories and controls. The manifold S-2 often used for thrust directions is made obsolete by the new bundle.