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Open AccessArticle

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.
Appl. Sci. 2017, 7(11), 1170; https://doi.org/10.3390/app7111170
Received: 4 October 2017 / Revised: 3 November 2017 / Accepted: 8 November 2017 / Published: 14 November 2017
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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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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