Inverse Optimal Design for Position Control of a Quadrotor
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 mo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/7/9/907 |
| _version_ | 1818993886195875840 |
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| author | Keun Uk Lee Yoon Ho Choi Jin Bae Park |
| author_facet | Keun Uk Lee Yoon Ho Choi Jin Bae Park |
| author_sort | Keun Uk Lee |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-20T20:49:10Z |
| format | Article |
| id | doaj.art-6eccae2e3abb4372a71aebfe073b81f8 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-20T20:49:10Z |
| publishDate | 2017-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-6eccae2e3abb4372a71aebfe073b81f82022-12-21T19:26:58ZengMDPI AGApplied Sciences2076-34172017-09-017990710.3390/app7090907app7090907Inverse Optimal Design for Position Control of a QuadrotorKeun Uk Lee0Yoon Ho Choi1Jin Bae Park2School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, KoreaDepartment of Electronic Engineering, Kyonggi University, Suwon, Kyonggi-Do 16227, KoreaSchool of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 03722, KoreaIn 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.https://www.mdpi.com/2076-3417/7/9/907inverse optimal controlquadrotorposition controlstate transformationinverse optimalityexponential stability |
| spellingShingle | Keun Uk Lee Yoon Ho Choi Jin Bae Park Inverse Optimal Design for Position Control of a Quadrotor Applied Sciences inverse optimal control quadrotor position control state transformation inverse optimality exponential stability |
| title | Inverse Optimal Design for Position Control of a Quadrotor |
| title_full | Inverse Optimal Design for Position Control of a Quadrotor |
| title_fullStr | Inverse Optimal Design for Position Control of a Quadrotor |
| title_full_unstemmed | Inverse Optimal Design for Position Control of a Quadrotor |
| title_short | Inverse Optimal Design for Position Control of a Quadrotor |
| title_sort | inverse optimal design for position control of a quadrotor |
| topic | inverse optimal control quadrotor position control state transformation inverse optimality exponential stability |
| url | https://www.mdpi.com/2076-3417/7/9/907 |
| work_keys_str_mv | AT keunuklee inverseoptimaldesignforpositioncontrolofaquadrotor AT yoonhochoi inverseoptimaldesignforpositioncontrolofaquadrotor AT jinbaepark inverseoptimaldesignforpositioncontrolofaquadrotor |