This brief offers a nonlinear advanced attitude tracking controller for quadcopter applications. The proposed technique incorporates an auto-tuner and disturbance observers instead of tracking error integrators. The offset-free convergence and performance recovery properties are rigorously proved using the Lyapunov stability theorem. Through realistic simulations, the closed-loop performance is numerically evaluated, focusing on showing the effectiveness of the auto-tuner.
|Number of pages||5|
|Journal||IEEE Transactions on Circuits and Systems II: Express Briefs|
|Publication status||Published - 2019 Dec|
- attitude tracking control
- disturbance observer
ASJC Scopus subject areas
- Electrical and Electronic Engineering