Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics

Dong Eui Chang; Yongsoon Eun

doi:10.1109/CDC.2014.7039461

Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics

Dong Eui Chang, Yongsoon Eun

Department of Electrical Engineering and Computer Science

University of Waterloo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

We provide a global framework for flatness-based motion planning and dynamic feedback linearization of the quadcopter dynamics. It allows us to avoid the singularity difficulty that comes from the use of the yaw angle in flat output construction and dynamic feedback linearization. We construct eight differentially flat charts the union of which covers the entire configuration space of the quadcopter dynamics so that we can do global motion planning without encountering any singularity. In each differentially flat chart we transform the 12-dimensional quadcopter system via dynamic feedback to a 14-dimensional linear controllable system, which makes tracking controller design straightforward, so that we can switch from one controller to another to track a globally planned trajectory. The central theme of this paper is the global approach to the quadcopter motion planning and tracking.

Original language	English
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	686-691
Number of pages	6
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7039461
State	Published - 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: 15 Dec 2014 → 17 Dec 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	15/12/14 → 17/12/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Access to Document

10.1109/CDC.2014.7039461

Cite this

Chang, D. E., & Eun, Y. (2014). Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 686-691). Article 7039461 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7039461

Chang, Dong Eui ; Eun, Yongsoon. / Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics. 53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 686-691 (Proceedings of the IEEE Conference on Decision and Control; February).

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title = "Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics",

abstract = "We provide a global framework for flatness-based motion planning and dynamic feedback linearization of the quadcopter dynamics. It allows us to avoid the singularity difficulty that comes from the use of the yaw angle in flat output construction and dynamic feedback linearization. We construct eight differentially flat charts the union of which covers the entire configuration space of the quadcopter dynamics so that we can do global motion planning without encountering any singularity. In each differentially flat chart we transform the 12-dimensional quadcopter system via dynamic feedback to a 14-dimensional linear controllable system, which makes tracking controller design straightforward, so that we can switch from one controller to another to track a globally planned trajectory. The central theme of this paper is the global approach to the quadcopter motion planning and tracking.",

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Chang, DE & Eun, Y 2014, Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7039461, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 686-691, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15/12/14. https://doi.org/10.1109/CDC.2014.7039461

Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics. / Chang, Dong Eui; Eun, Yongsoon.
53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 686-691 7039461 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We provide a global framework for flatness-based motion planning and dynamic feedback linearization of the quadcopter dynamics. It allows us to avoid the singularity difficulty that comes from the use of the yaw angle in flat output construction and dynamic feedback linearization. We construct eight differentially flat charts the union of which covers the entire configuration space of the quadcopter dynamics so that we can do global motion planning without encountering any singularity. In each differentially flat chart we transform the 12-dimensional quadcopter system via dynamic feedback to a 14-dimensional linear controllable system, which makes tracking controller design straightforward, so that we can switch from one controller to another to track a globally planned trajectory. The central theme of this paper is the global approach to the quadcopter motion planning and tracking.

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Chang DE, Eun Y. Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics. In 53rd IEEE Conference on Decision and Control,CDC 2014. February ed. Institute of Electrical and Electronics Engineers Inc. 2014. p. 686-691. 7039461. (Proceedings of the IEEE Conference on Decision and Control; February). doi: 10.1109/CDC.2014.7039461

Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics

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