TY - JOUR
T1 - Position control of a quadrotor using state transformation technique
AU - Lee, K. U.
AU - Choi, Y. H.
AU - Park, J. B.
N1 - Publisher Copyright:
© 2018 Int. J. Mech. Eng. Rob. Res.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
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.
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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 -