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.
|Number of pages||6|
|Journal||International Journal of Mechanical Engineering and Robotics Research|
|Publication status||Published - 2018 Sep 1|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Mechanical Engineering
- Artificial Intelligence