Performance Recovery Tracking-Controller for Quadcopters via Invariant Dynamic Surface Approach
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Seok-Kyoon | - |
dc.contributor.author | Ahn, Choon Ki | - |
dc.contributor.author | Shi, Peng | - |
dc.date.accessioned | 2021-09-01T07:25:24Z | - |
dc.date.available | 2021-09-01T07:25:24Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2019-09 | - |
dc.identifier.issn | 1551-3203 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/63029 | - |
dc.description.abstract | In this paper, a robust position tracking controller is proposed using an invariant dynamic surface approach in a cascade control system structure. There are two main contributions. The first is to design a dynamic surface giving the desired tracking-performance with a time-varying cutoff frequency automatically adjusted by the proposed auto-tuner, which can enhance the reliability of the resulting control system. The second is to derive the inner- and outer-loop control laws driving the closed-loop trajectories to the dynamic surface, incorporating a disturbance observer with the use of only nominal plant parameters. A reduction of plant parameter dependence can be accomplished by the second contribution. The realistic simulation results confirm the advantages of the proposed technique. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | QUADROTOR | - |
dc.subject | DESIGN | - |
dc.title | Performance Recovery Tracking-Controller for Quadcopters via Invariant Dynamic Surface Approach | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/TII.2019.2914066 | - |
dc.identifier.scopusid | 2-s2.0-85086804125 | - |
dc.identifier.wosid | 000489584600037 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, v.15, no.9, pp.5235 - 5243 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS | - |
dc.citation.title | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS | - |
dc.citation.volume | 15 | - |
dc.citation.number | 9 | - |
dc.citation.startPage | 5235 | - |
dc.citation.endPage | 5243 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Interdisciplinary Applications | - |
dc.relation.journalWebOfScienceCategory | Engineering, Industrial | - |
dc.subject.keywordPlus | QUADROTOR | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Invariant dynamic surface | - |
dc.subject.keywordAuthor | performance recovery | - |
dc.subject.keywordAuthor | quadcopters | - |
dc.subject.keywordAuthor | trajectory tracking | - |
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