Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


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 languageEnglish
Article number8693514
Pages (from-to)84-94
Number of pages11
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number1
Publication statusPublished - 2020 Feb

Bibliographical note

Funding Information:
This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2017R1C1B5074256), in part by the NRF of Korea through the Ministry of Science, ICT, Future Planning under Grant NRF-2017R1A1A1A05001325, and in part by the Brain Korea 21 Plus Project in 2019.

Publisher Copyright:
© 1965-2011 IEEE.


  • 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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