{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T06:03:36Z","timestamp":1771567416439,"version":"3.50.1"},"reference-count":0,"publisher":"American Society of Mechanical Engineers","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2012,8,12]]},"abstract":"<jats:p>In this paper, we present the design of the Omnicopter, a micro aerial vehicle (MAV) with two central counter-rotating coaxial propellers for thrust and yaw control and three perimeter-mounted variable angle ducted fans to control roll and pitch. First, a dynamic model of the robot is established using the Euler-Lagrange formalism. Next, we focus on the attitude control for a special operating case of the Omnicopter with fixed vertical positions of the surrounding ducted fans. A nonlinear model is represented in state space using the quaternion and angular velocity as state variables, which simplifies the system dynamics. Based on this model, a feedback linearization controller is developed, which renders the system linear and controllable from an input-output point of view. The zero dynamics problem is also analyzed. Finally, simulations are carried out and the results illustrate that the attitude stabilization task for the Omnicopter is achieved.<\/jats:p>","DOI":"10.1115\/detc2012-70485","type":"proceedings-article","created":{"date-parts":[[2013,9,9]],"date-time":"2013-09-09T19:41:39Z","timestamp":1378755699000},"page":"1413-1421","update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":10,"title":["Design and Quaternion-Based Attitude Control of the Omnicopter MAV Using Feedback Linearization"],"prefix":"10.1115","author":[{"given":"Yangbo","family":"Long","sequence":"first","affiliation":[{"name":"Stevens Institute of Technology, Hoboken, NJ"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sean","family":"Lyttle","sequence":"additional","affiliation":[{"name":"Stevens Institute of Technology, Hoboken, NJ"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicholas","family":"Pagano","sequence":"additional","affiliation":[{"name":"Stevens Institute of Technology, Hoboken, NJ"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David J.","family":"Cappelleri","sequence":"additional","affiliation":[{"name":"Stevens Institute of Technology, Hoboken, NJ"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2013,9,9]]},"event":{"name":"ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","location":"Chicago, Illinois, USA","acronym":"IDETC-CIE2012","sponsor":["Design Engineering Division","Computers and Information in Engineering Division"],"start":{"date-parts":[[2012,8,12]]},"end":{"date-parts":[[2012,8,15]]}},"container-title":["Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B"],"original-title":[],"link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/IDETC-CIE\/proceedings-pdf\/doi\/10.1115\/DETC2012-70485\/4257456\/1413_1.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,31]],"date-time":"2019-08-31T20:01:42Z","timestamp":1567281702000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/IDETC-CIE\/proceedings\/IDETC-CIE2012\/45035\/1413\/255902"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8,12]]},"references-count":0,"URL":"https:\/\/doi.org\/10.1115\/detc2012-70485","relation":{},"subject":[],"published":{"date-parts":[[2012,8,12]]}}}