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 |
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Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
DOIs | |
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