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 | |
| Publication status | Published - 2018 Sep 1 |
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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 journal › Article
TY - JOUR
T1 - Position control of a quadrotor using state transformation technique
AU - Lee, K. U.
AU - Choi, Y. H.
AU - Park, J. B.
PY - 2018/9/1
Y1 - 2018/9/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85052957853&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052957853&partnerID=8YFLogxK
U2 - 10.18178/ijmerr.7.5.489-494
DO - 10.18178/ijmerr.7.5.489-494
M3 - Article
AN - SCOPUS:85052957853
VL - 7
SP - 489
EP - 494
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
SN - 2278-0149
IS - 5
ER -