Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications

Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TCSII.2019.2896591

Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications

Seok Kyoon Kim
, Choon Ki Ahn^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

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
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	https://doi.org/10.1109/TCSII.2019.2896591
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

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10.1109/TCSII.2019.2896591

Cite this

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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.",

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AB - 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.

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KW - attitude tracking control

KW - auto-tuner

KW - disturbance observer

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Auto-Tuner-Based Controller for Quadcopter Attitude Tracking Applications

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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