Angular velocity observer-based quadcopter attitude stabilization via pole-zero cancellation technique

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-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 languageEnglish
Article number9343279
Pages (from-to)2458-2462
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume68
Issue number7
DOIs
Publication statusPublished - 2021 Jul

Keywords

  • Quadcopters
  • angular velocity observer
  • attitude stabilization
  • performance recovery
  • pole-zero cancellation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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