Exakte Ein-/Ausgangslinearisierung für die translatorische Dynamik eines Quadrocopters

This paper presents an exact inputoutput linearization for the translational dynamics of a quadrotor helicopter. For this purpose the required attitude information is fully given by the orientation of the thrust vector (coinciding with the body-fixed z-axis), which can be described with only two degrees of freedom. To this end a special quaternion for the thrust axis is introduced in this paper. The input-output linearization then consists of two stages. First an input-output linearization relating z position to thrust is performed and followed by a second input-output linearization relating xy position to the control torques.