Position control of a quadrotor using state transformation technique

K. U. Lee; Y. H. Choi; J. B. Park

doi:10.18178/ijmerr.7.5.489-494

Position control of a quadrotor using state transformation technique

K. U. Lee, Y. H. Choi, J. B. Park

Department of Electrical and Electronic Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we propose a state transformation technique for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present a state transformation technique to derive the position dynamics of a quadrotor. Then, we present backstepping based 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 asymptotically stabilized. Finally, we verify the performance of the proposed position control method through the comparison simulations.

Original language	English
Pages (from-to)	489-494
Number of pages	6
Journal	International Journal of Mechanical Engineering and Robotics Research
Volume	7
Issue number	5
DOIs	https://doi.org/10.18178/ijmerr.7.5.489-494
Publication status	Published - 2018 Sep 1

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Mechanical Engineering
Artificial Intelligence

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AB - In this paper, we propose a state transformation technique for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present a state transformation technique to derive the position dynamics of a quadrotor. Then, we present backstepping based 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 asymptotically stabilized. Finally, we verify the performance of the proposed position control method through the comparison simulations.

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