Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications

Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TAES.2019.2911768

Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

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.

Original language	English
Article number	8693514
Pages (from-to)	84-94
Number of pages	11
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	1
DOIs	https://doi.org/10.1109/TAES.2019.2911768
Publication status	Published - 2020 Feb

Keywords

Cutoff frequency adaptation
disturbance observer (DOB)
parameter uncertainty
quadcopters
tracking control algorithm

ASJC Scopus subject areas

Aerospace Engineering
Electrical and Electronic Engineering

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10.1109/TAES.2019.2911768

Cite this

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title = "Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications",

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.",

keywords = "Cutoff frequency adaptation, disturbance observer (DOB), parameter uncertainty, quadcopters, tracking control algorithm",

author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",

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AB - 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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Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications

Abstract

Keywords

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