Angular Velocity Observer-based Quadcopter Attitude Stabilization via Pole-zero Cancellation Technique

Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TCSII.2021.3055903

Angular Velocity Observer-based Quadcopter Attitude Stabilization via Pole-zero Cancellation Technique

Seok Kyoon Kim, Choon Ki Ahn

School of Electrical Engineering

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

Abstract

This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.

Original language	English
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
DOIs	https://doi.org/10.1109/TCSII.2021.3055903
Publication status	Accepted/In press - 2021

Keywords

Aircraft
Angular velocity observer
Attitude stabilization
Convergence
Damping
Observers
Performance recovery.
Pole-zero cancellation
Quadcopters
Robustness
Rotors
Torque

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/TCSII.2021.3055903

Cite this

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title = "Angular Velocity Observer-based Quadcopter Attitude Stabilization via Pole-zero Cancellation Technique",

abstract = "This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.",

keywords = "Aircraft, Angular velocity observer, Attitude stabilization, Convergence, Damping, Observers, Performance recovery., Pole-zero cancellation, Quadcopters, Robustness, Rotors, Torque",

author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",

year = "2021",

doi = "10.1109/TCSII.2021.3055903",

language = "English",

journal = "IEEE Transactions on Circuits and Systems I: Regular Papers",

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T1 - Angular Velocity Observer-based Quadcopter Attitude Stabilization via Pole-zero Cancellation Technique

AU - Kim, Seok Kyoon

AU - Ahn, Choon Ki

PY - 2021

Y1 - 2021

N2 - This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.

AB - This brief gives an advanced observer-based attitude stabilization mechanism for quadcopter applications subject to parameter and load uncertainties. The results show two features: first, a parameter-independent pole-zero cancellation angular velocity observer for reducing the number of sensors, and second, state and disturbance observer-based pole-zero cancellation control for improving the robustness by guaranteeing the performance recovery property. Numerical evidence from realistic simulations confirms the effectiveness of the resultant closed-loop system.

KW - Aircraft

KW - Angular velocity observer

KW - Attitude stabilization

KW - Convergence

KW - Damping

KW - Observers

KW - Performance recovery.

KW - Pole-zero cancellation

KW - Quadcopters

KW - Robustness

KW - Rotors

KW - Torque

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M3 - Article

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JO - IEEE Transactions on Circuits and Systems I: Regular Papers

JF - IEEE Transactions on Circuits and Systems I: Regular Papers

SN - 1549-8328

ER -

Angular Velocity Observer-based Quadcopter Attitude Stabilization via Pole-zero Cancellation Technique

Abstract

Keywords

ASJC Scopus subject areas

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