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Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- Dec-2019
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Attitude control; Aerodynamics; Cutoff frequency; Target tracking; Torque; Disturbance observers; Quadcopters; attitude tracking control; auto-tuner; disturbance observer
- Citation
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.66, no.12, pp.2012 - 2016
- Indexed
- SCIE
SCOPUS
- Volume
- 66
- Number
- 12
- Start Page
- 2012
- End Page
- 2016
- ISSN
- 1549-7747
- Abstract
- This brief offers a nonlinear advanced attitude tracking controller for quadcopter applications. The proposed technique incorporates an auto-tuner and disturbance observers instead of tracking error integrators. The offset-free convergence and performance recovery properties are rigorously proved using the Lyapunov stability theorem. Through realistic simulations, the closed-loop performance is numerically evaluated, focusing on showing the effectiveness of the auto-tuner.
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Related Researcher
- Ahn, Choon ki
- College of Engineering (School of Electrical Engineering)