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.
Original language | English |
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Article number | 8630662 |
Pages (from-to) | 2012-2016 |
Number of pages | 5 |
Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
Volume | 66 |
Issue number | 12 |
DOIs | |
Publication status | Published - 2019 Dec |
Bibliographical note
Publisher Copyright:© 2004-2012 IEEE.
Keywords
- Quadcopters
- attitude tracking control
- auto-tuner
- disturbance observer
ASJC Scopus subject areas
- Electrical and Electronic Engineering