Abstract
In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal 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 exponentially stabilized. In addition, we show the inverse optimality of the proposed inverse optimal controller for the position control of a quadrotor. The inverse optimality can simply and clearly be shown using the state transformation technique. Finally, we present some simulation results to verify the effectiveness of the proposed control method.
| Original language | English |
|---|---|
| Article number | 907 |
| Journal | Applied Sciences (Switzerland) |
| Volume | 7 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 2017 Sept 5 |
Bibliographical note
Funding Information:Acknowledgments: This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (No. 2015R1A2A2A01007545).
Publisher Copyright:
© 2017 by the authors.
All Science Journal Classification (ASJC) codes
- Materials Science(all)
- Instrumentation
- Engineering(all)
- Process Chemistry and Technology
- Computer Science Applications
- Fluid Flow and Transfer Processes