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Position Control of a Quadrotor Using State Transformation Technique

K. U. Lee 1, Y. H. Choi2, and J. B. Park 1
1. Department of Electrical Electronic Engineering, Yonsei University, Seoul 03722, Korea
2. Department of Electronic Engineering, Kyonggi University, Kyonggi-Do 16227, Korea

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. 

Index Terms—quadrotor, position control, state transformation, backstepping control, small angle assumption

Cite: K. U. Lee, Y. H. Choi, and J. B. Park, "Position Control of a Quadrotor Using State Transformation Technique," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 5, pp. 489-494, September 2018. DOI: 10.18178/ijmerr.7.5.489-494