TY - GEN
T1 - Path following for a quadrotor using dynamic extension and transverse feedback linearization
AU - Akhtar, Adeel
AU - Waslander, Steven L.
AU - Nielsen, Christopher
N1 - Generated from Scopus record by KAUST IRTS on 2023-10-11
PY - 2012/1/1
Y1 - 2012/1/1
N2 - This work presents a path following controller for a quadrotor vehicle. A smooth, dynamic, feedback controller is designed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired speed, a desired acceleration or while stabilizing desired points along the curves. The nonlinear dynamic model of the quadrotor is transformed into a linear system via a coordinate and feedback linearization transformation. Once transformed, a path following controller is designed that guarantees invariance of the path while enforcing the desired motion along the path. © 2012 IEEE.
AB - This work presents a path following controller for a quadrotor vehicle. A smooth, dynamic, feedback controller is designed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired speed, a desired acceleration or while stabilizing desired points along the curves. The nonlinear dynamic model of the quadrotor is transformed into a linear system via a coordinate and feedback linearization transformation. Once transformed, a path following controller is designed that guarantees invariance of the path while enforcing the desired motion along the path. © 2012 IEEE.
UR - http://ieeexplore.ieee.org/document/6425945/
UR - http://www.scopus.com/inward/record.url?scp=84874285188&partnerID=8YFLogxK
U2 - 10.1109/CDC.2012.6425945
DO - 10.1109/CDC.2012.6425945
M3 - Conference contribution
SP - 3551
EP - 3556
BT - Proceedings of the IEEE Conference on Decision and Control
PB - Institute of Electrical and Electronics Engineers Inc.
ER -