Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation techn...

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Main Authors:	Keun Uk Lee, Yoon Ho Choi, Jin Bae Park
Format:	Article
Language:	English
Published:	MDPI AG 2017-11-01
Series:	Applied Sciences
Subjects:	backstepping method formation control quadrotor position control small angle assumption state transformation technique asymptotical stability
Online Access:	https://www.mdpi.com/2076-3417/7/11/1170

id	doaj-015f1c1fdc174155ad4d0cf814a0e80c
record_format	Article
spelling	doaj-015f1c1fdc174155ad4d0cf814a0e80c2020-11-25T02:43:10ZengMDPI AGApplied Sciences2076-34172017-11-01711117010.3390/app7111170app7111170Backstepping Based Formation Control of Quadrotors with the State Transformation TechniqueKeun Uk Lee0Yoon Ho Choi1Jin Bae Park2School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, KoreaDepartment of Electronic Engineering, Kyonggi University, Suwon 16227, Kyonggi-Do, KoreaSchool of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, KoreaIn this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.https://www.mdpi.com/2076-3417/7/11/1170backstepping methodformation controlquadrotorposition controlsmall angle assumptionstate transformation techniqueasymptotical stability
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Keun Uk Lee Yoon Ho Choi Jin Bae Park
spellingShingle	Keun Uk Lee Yoon Ho Choi Jin Bae Park Backstepping Based Formation Control of Quadrotors with the State Transformation Technique Applied Sciences backstepping method formation control quadrotor position control small angle assumption state transformation technique asymptotical stability
author_facet	Keun Uk Lee Yoon Ho Choi Jin Bae Park
author_sort	Keun Uk Lee
title	Backstepping Based Formation Control of Quadrotors with the State Transformation Technique
title_short	Backstepping Based Formation Control of Quadrotors with the State Transformation Technique
title_full	Backstepping Based Formation Control of Quadrotors with the State Transformation Technique
title_fullStr	Backstepping Based Formation Control of Quadrotors with the State Transformation Technique
title_full_unstemmed	Backstepping Based Formation Control of Quadrotors with the State Transformation Technique
title_sort	backstepping based formation control of quadrotors with the state transformation technique
publisher	MDPI AG
series	Applied Sciences
issn	2076-3417
publishDate	2017-11-01
description	In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.
topic	backstepping method formation control quadrotor position control small angle assumption state transformation technique asymptotical stability
url	https://www.mdpi.com/2076-3417/7/11/1170
work_keys_str_mv	AT keunuklee backsteppingbasedformationcontrolofquadrotorswiththestatetransformationtechnique AT yoonhochoi backsteppingbasedformationcontrolofquadrotorswiththestatetransformationtechnique AT jinbaepark backsteppingbasedformationcontrolofquadrotorswiththestatetransformationtechnique
_version_	1724771031443308544

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

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