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

23 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

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.

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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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",

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Adaptive Nonlinear Tracking Control Algorithm for Quadcopter Applications

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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