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

Adeel Akhtar, Steven L. Waslander, Christopher Nielsen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

29 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. © 2012 IEEE.
Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3551-3556
Number of pages6
DOIs
StatePublished - Jan 1 2012
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-10-11

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