Performance recovery tracking-controller for quadcopters via invariant dynamic surface approach

Seok Kyoon Kim, Choon Ki Ahn, Peng Shi

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


In this paper, a robust position tracking controller is proposed using an invariant dynamic surface approach in a cascade control system structure. There are two main contributions. The first is to design a dynamic surface giving the desired tracking-performance with a time-varying cutoff frequency automatically adjusted by the proposed auto-tuner, which can enhance the reliability of the resulting control system. The second is to derive the inner- and outer-loop control laws driving the closed-loop trajectories to the dynamic surface, incorporating a disturbance observer with the use of only nominal plant parameters. A reduction of plant parameter dependence can be accomplished by the second contribution. The realistic simulation results confirm the advantages of the proposed technique.

Original languageEnglish
Article number2914066
Pages (from-to)5235-5243
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number9
Publication statusPublished - 2019 Sept


  • Invariant dynamic surface
  • Performance recovery
  • Quadcopters
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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