Angular Velocity Observer-Based Quadcopter Attitude Stabilization via Pole-Zero Cancellation Technique
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- 7월-2021
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Aircraft; Convergence; Damping; Observers; Quadcopters; Robustness; Rotors; Torque; angular velocity observer; attitude stabilization; performance recovery; pole-zero cancellation
- Citation
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.68, no.7, pp.2458 - 2462
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
- Volume
- 68
- Number
- 7
- Start Page
- 2458
- End Page
- 2462
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/137181
- DOI
- 10.1109/TCSII.2021.3055903
- ISSN
- 1549-7747
- Abstract
- This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.
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Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
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