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 Sept 1 |
Bibliographical note
Publisher Copyright:© 2018 Int. J. Mech. Eng. Rob. Res.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Mechanical Engineering
- Artificial Intelligence