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

Seok Kyoon Kim; Choon Ki Ahn; Peng Shi

doi:10.1109/TII.2019.2914066

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

Seok Kyoon Kim, Choon Ki Ahn, Peng Shi

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

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 language	English
Article number	2914066
Pages (from-to)	5235-5243
Number of pages	9
Journal	IEEE Transactions on Industrial Informatics
Volume	15
Issue number	9
DOIs	https://doi.org/10.1109/TII.2019.2914066
Publication status	Published - 2019 Sept

Keywords

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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10.1109/TII.2019.2914066

Cite this

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title = "Performance recovery tracking-controller for quadcopters via invariant dynamic surface approach",

abstract = "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.",

keywords = "Invariant dynamic surface, Performance recovery, Quadcopters, Trajectory tracking",

author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki} and Peng Shi",

note = "Funding Information: Manuscript received November 19, 2018; revised February 20, 2019 and March 28, 2019; accepted April 7, 2019. Date of publication April 30, 2019; date of current version September 3, 2019. 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 2017R1C1B5074256, in part by the NRF of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325, in part the Australian Research Council under Grant DP170102644, and in part by the Brain Korea 21 Plus Project in 2019. Paper no. TII-18-3067. (Corresponding author: Choon Ki Ahn.) S.-K. 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} 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.",

year = "2019",

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doi = "10.1109/TII.2019.2914066",

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N1 - Funding Information: Manuscript received November 19, 2018; revised February 20, 2019 and March 28, 2019; accepted April 7, 2019. Date of publication April 30, 2019; date of current version September 3, 2019. 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 2017R1C1B5074256, in part by the NRF of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325, in part the Australian Research Council under Grant DP170102644, and in part by the Brain Korea 21 Plus Project in 2019. Paper no. TII-18-3067. (Corresponding author: Choon Ki Ahn.) S.-K. Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:, lotus45kr@gmail.com). Publisher Copyright: © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.

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AB - 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.

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

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