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.
|Journal||IEEE Transactions on Circuits and Systems II: Express Briefs|
|Publication status||Accepted/In press - 2021|
- Angular velocity observer
- Attitude stabilization
- Performance recovery.
- Pole-zero cancellation
ASJC Scopus subject areas
- Electrical and Electronic Engineering