@article{6a952d3c31d542648a5344ac92fc42f7,
title = "Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications",
abstract = "This brief offers a nonlinear advanced attitude tracking controller for quadcopter applications. The proposed technique incorporates an auto-tuner and disturbance observers instead of tracking error integrators. The offset-free convergence and performance recovery properties are rigorously proved using the Lyapunov stability theorem. Through realistic simulations, the closed-loop performance is numerically evaluated, focusing on showing the effectiveness of the auto-tuner.",
keywords = "Quadcopters, attitude tracking control, auto-tuner, disturbance observer",
author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",
note = "Funding Information: Manuscript received December 10, 2018; accepted January 26, 2019. Date of publication January 31, 2019; date of current version December 6, 2019. This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2017R1C1B5074256, and in part by the NRF of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This brief was recommended by Associate Editor H. K. Lam. (Corresponding author: Choon Ki Ahn.) S.-K. Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail: lotus45kr@gmail.com). Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",
year = "2019",
month = dec,
doi = "10.1109/TCSII.2019.2896591",
language = "English",
volume = "66",
pages = "2012--2016",
journal = "IEEE Transactions on Circuits and Systems II: Express Briefs",
issn = "1549-7747",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "12",
}