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Appl. Sci. 2017, 7(11), 1170; doi:10.3390/app7111170

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

1
School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, Korea
2
Department of Electronic Engineering, Kyonggi University, Suwon 16227, Kyonggi-Do, Korea
*
Author to whom correspondence should be addressed.
Received: 4 October 2017 / Revised: 3 November 2017 / Accepted: 8 November 2017 / Published: 14 November 2017
(This article belongs to the Section Computer Science and Electrical Engineering)

Abstract

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. View Full-Text
Keywords: backstepping method; formation control; quadrotor; position control; small angle assumption; state transformation technique; asymptotical stability backstepping method; formation control; quadrotor; position control; small angle assumption; state transformation technique; asymptotical stability
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Lee, K.U.; Choi, Y.H.; Park, J.B. Backstepping Based Formation Control of Quadrotors with the State Transformation Technique. Appl. Sci. 2017, 7, 1170.

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