Angular velocity observer-based quadcopter attitude stabilization via pole-zero cancellation technique

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.

Original languageEnglish
Article number9343279
Pages (from-to)2458-2462
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number7
Publication statusPublished - 2021 Jul

Bibliographical note

Funding Information:
Manuscript received November 17, 2020; revised December 17, 2020; accepted January 28, 2021. Date of publication February 1, 2021; date of current version June 29, 2021. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF Grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. This brief was recommended by Associate Editor C.-T. Cheng. (Corresponding author: Choon Ki Ahn.) Seok-Kyoon Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:

Publisher Copyright:
© 2004-2012 IEEE.


  • Quadcopters
  • angular velocity observer
  • attitude stabilization
  • performance recovery
  • pole-zero cancellation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Angular velocity observer-based quadcopter attitude stabilization via pole-zero cancellation technique'. Together they form a unique fingerprint.

Cite this