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 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Mechanical Engineering
- Artificial Intelligence
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Cite this
Lee, K. U., Choi, Y. H., & Park, J. B. (2018). Position control of a quadrotor using state transformation technique. International Journal of Mechanical Engineering and Robotics Research, 7(5), 489-494. https://doi.org/10.18178/ijmerr.7.5.489-494