Path following for a quadrotor using dynamic extension and transverse feedback linearization

Adeel Akhtar, Steven L. Waslander, Christopher Nielsen

Research output: Contribution to journalConference articlepeer-review

33 Scopus citations

Abstract

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.

Original languageEnglish (US)
Article number6425945
Pages (from-to)3551-3556
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - 2012
Externally publishedYes
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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