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.

In this paper, we propose a new optical alignment system using Hadamard transformation that is designed for aligning multiple channel optical components. A conventional optical alignment system assumes that the whole channels of the components are perfectly aligned with two detectors, which are placed at the end of the outermost channels of the components, indicate the maximum optical power. The proposed system is able to give us the optical power information of each channel with using one detector. The proposed optical alignment system can make up for the drawback of the conventional optical alignment system.