Performance recovery tracking-controller for quadcopters via invariant dynamic surface approach

Seok Kyoon Kim, Choon Ki Ahn, Peng Shi

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


In this paper, a robust position tracking controller is proposed using an invariant dynamic surface approach in a cascade control system structure. There are two main contributions. The first is to design a dynamic surface giving the desired tracking-performance with a time-varying cutoff frequency automatically adjusted by the proposed auto-tuner, which can enhance the reliability of the resulting control system. The second is to derive the inner- and outer-loop control laws driving the closed-loop trajectories to the dynamic surface, incorporating a disturbance observer with the use of only nominal plant parameters. A reduction of plant parameter dependence can be accomplished by the second contribution. The realistic simulation results confirm the advantages of the proposed technique.

Original languageEnglish
Article number2914066
Pages (from-to)5235-5243
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number9
Publication statusPublished - 2019 Sept

Bibliographical note

Funding Information:
Manuscript received November 19, 2018; revised February 20, 2019 and March 28, 2019; accepted April 7, 2019. Date of publication April 30, 2019; date of current version September 3, 2019. 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 2017R1C1B5074256, in part by the NRF of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325, in part the Australian Research Council under Grant DP170102644, and in part by the Brain Korea 21 Plus Project in 2019. Paper no. TII-18-3067. (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:,

Publisher Copyright:
© 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See standards/publications/rights/index.html for more information.


  • Invariant dynamic surface
  • Performance recovery
  • Quadcopters
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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