I will present a new dynamic extension of the thrust variable in the quadcopter dynamics that preserves the positive sign of the thrust. This extension not only eliminates the positive sign constraint on the thrust variable, but also leads to feedback linearization of the quadcopter dynamics. For the latter, an atlas of charts is constructed on the entire state space of the quadcopter so that the quadcopter is transformed to a 14-dimensional linear controllable system on each chart in the atlas. Based on the chart-wise dynamic feedback linearization of the quadcopter, a “global” tracking strategy is proposed and its excellence is demonstrated with a simulation study.

※ 학력
- 1994년 서울대학교 제어계측공학과(학사)
- 1997년 서울대학교 전기공학부(석사)
- 2002년 Caltech, Control & Dynamical Systems (PhD)

※ 주요경력
- 2017년-현재 한국과학기술원, 전기및전자공학부, 부교수
- 2010년~2016년 University of Waterloo, Canada, 응용수학과, 부교수
- 2005년~2010년 University of Waterloo, Canada, 응용수학과, 조교수