@article{abe478b1cc2045648b78b5256afad677,
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 = "Quadcopters, angular velocity observer, attitude stabilization, performance recovery, pole-zero cancellation",
author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",
note = "Funding Information: Manuscript received November 17, 2020; revised December 17, 2020; accepted January 28, 2021. Date of publication February 1, 2021; date of current version June 29, 2021. 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 2018R1A6A1A03026005, and in part by the NRF Grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. This brief was recommended by Associate Editor C.-T. Cheng. (Corresponding author: Choon Ki Ahn.) Seok-Kyoon Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail: lotus45kr@gmail.com). Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",
year = "2021",
month = jul,
doi = "10.1109/TCSII.2021.3055903",
language = "English",
volume = "68",
pages = "2458--2462",
journal = "IEEE Transactions on Circuits and Systems I: Regular Papers",
issn = "1549-8328",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "7",
}