# Inverse optimal design for position control of a quadrotor

Keun Uk Lee, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticle

4 Citations (Scopus)

### Abstract

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrotor. The stability analysis based on Lyapunov theorem shows that the proposed control method can realize a quadrotor system that is exponentially stabilized. In addition, we show the inverse optimality of the proposed inverse optimal controller for the position control of a quadrotor. The inverse optimality can simply and clearly be shown using the state transformation technique. Finally, we present some simulation results to verify the effectiveness of the proposed control method.

Original language English 907 Applied Sciences (Switzerland) 7 9 https://doi.org/10.3390/app7090907 Published - 2017 Sep 5

Position control
Dynamic models
Kinematics
Controllers
dynamic models
newton
controllers
kinematics
theorems
Optimal design
formulations
simulation

### All Science Journal Classification (ASJC) codes

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

### Cite this

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title = "Inverse optimal design for position control of a quadrotor",
abstract = "In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrotor. The stability analysis based on Lyapunov theorem shows that the proposed control method can realize a quadrotor system that is exponentially stabilized. In addition, we show the inverse optimality of the proposed inverse optimal controller for the position control of a quadrotor. The inverse optimality can simply and clearly be shown using the state transformation technique. Finally, we present some simulation results to verify the effectiveness of the proposed control method.",
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Inverse optimal design for position control of a quadrotor. / Lee, Keun Uk; Choi, Yoon Ho; Park, Jin Bae.

In: Applied Sciences (Switzerland), Vol. 7, No. 9, 907, 05.09.2017.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Inverse optimal design for position control of a quadrotor

AU - Lee, Keun Uk

AU - Choi, Yoon Ho

AU - Park, Jin Bae

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N2 - In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrotor. The stability analysis based on Lyapunov theorem shows that the proposed control method can realize a quadrotor system that is exponentially stabilized. In addition, we show the inverse optimality of the proposed inverse optimal controller for the position control of a quadrotor. The inverse optimality can simply and clearly be shown using the state transformation technique. Finally, we present some simulation results to verify the effectiveness of the proposed control method.

AB - In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrotor. The stability analysis based on Lyapunov theorem shows that the proposed control method can realize a quadrotor system that is exponentially stabilized. In addition, we show the inverse optimality of the proposed inverse optimal controller for the position control of a quadrotor. The inverse optimality can simply and clearly be shown using the state transformation technique. Finally, we present some simulation results to verify the effectiveness of the proposed control method.

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