Backstepping based formation control of quadrotors with the state transformation technique

Keun Uk Lee, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticle

7 Citations (Scopus)


In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton-Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.

Original languageEnglish
Article number1170
JournalApplied Sciences (Switzerland)
Issue number11
Publication statusPublished - 2017 Nov 14


All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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