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
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
DOIs
Publication statusAccepted/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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