Position control of a quadrotor: Dynamic surface control approach

Keun Uk Lee, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

This paper deals with a quadrotor position control scheme using dynamic surface control (DSC). The proposed DSC method can overcome the complexity of an actual controller caused by the recursive differentiation of virtual controllers in the backstepping design procedure. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. Specially, we use the π/4 shifted coordinate for x- And y- Axis of a quadrotor. Second, DSC-based position control method is presented. Using Lyapunov stability theory, the states of the quadrotor are proved as uniformly ultimately bounded (UUB). Finally, the simulation results are given to verify the effectiveness of the proposed control method.

Original languageEnglish
Pages1574-1579
Number of pages6
Publication statusPublished - 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, K. U., Choi, Y. H., & Park, J. B. (2013). Position control of a quadrotor: Dynamic surface control approach. 1574-1579. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.