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Appl. Sci. 2017, 7(9), 907; doi:10.3390/app7090907

Inverse Optimal Design for Position Control of a Quadrotor

1
School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, Korea
2
Department of Electronic Engineering, Kyonggi University, Suwon, Kyonggi-Do 16227, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Andrea Prati
Received: 18 June 2017 / Revised: 11 August 2017 / Accepted: 26 August 2017 / Published: 5 September 2017
(This article belongs to the Section Computer Science and Electrical Engineering)
View Full-Text   |   Download PDF [2341 KB, uploaded 5 September 2017]   |  

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. View Full-Text
Keywords: inverse optimal control; quadrotor; position control; state transformation; inverse optimality; exponential stability inverse optimal control; quadrotor; position control; state transformation; inverse optimality; exponential stability
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Lee, K.U.; Choi, Y.H.; Park, J.B. Inverse Optimal Design for Position Control of a Quadrotor. Appl. Sci. 2017, 7, 907.

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