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Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- Feb-2020
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Cutoff frequency adaptation; disturbance observer (DOB); parameter uncertainty; quadcopters; tracking control algorithm
- Citation
- IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, v.56, no.1, pp.84 - 94
- Indexed
- SCIE
SCOPUS
- Volume
- 56
- Number
- 1
- Start Page
- 84
- End Page
- 94
- ISSN
- 0018-9251
- Abstract
- This paper presents a nonlinear tracking controller including the cutoff frequency adaptation algorithm for quadcopters without the use of true plant parameters. This study makes two contributions. First, an adaptation algorithm automatically updates the closed-loop cutoff frequency by updating the feedback gains. Second, a nonlinear control law renders the closed-loop system to guarantee the exponential performance recovery and offset-free properties, while only using the proportional component of tracking errors. The numerical verifications are performed to verify the closed-loop performance improvement from the proposed controller with MATLAB/Simulink.
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Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
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Related Researcher
- Ahn, Choon ki
- College of Engineering (School of Electrical Engineering)