A New Bundle Picture for the Drone

• 成果类型: Article
• 署名作者: Chang, Dong Eui
• 署名单位: Korea Advanced Institute of Science & Technology (KAIST)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3200982
• 发表日期: 2023
• 页码: 4218-4224
• 关键词: Drone; dynamic feedback linearization; parameterization; principal bundle

摘要

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.