Position control of a quadrotor using state transformation technique

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

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)489-494
Number of pages6
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume7
Issue number5
DOIs
Publication statusPublished - 2018 Sep 1

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Position control
Backstepping

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

Cite this

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Position control of a quadrotor using state transformation technique. / Lee, K. U.; Choi, Y. H.; Park, J. B.

In: International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 5, 01.09.2018, p. 489-494.

Research output: Contribution to journalArticle

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AU - Park, J. B.

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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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