Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


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.

Original languageEnglish
Article number8630662
Pages (from-to)2012-2016
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number12
Publication statusPublished - 2019 Dec


  • Quadcopters
  • attitude tracking control
  • auto-tuner
  • disturbance observer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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