Performance recovery tracking-controller for quadcopters via invariant dynamic surface approach
Date
2019
Authors
Kim, S.-K.
Ahn, C.K.
Shi, P.
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IEEE Transactions on Industrial Informatics, 2019; 15(9):5235-5243
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Seok-Kyoon Kim, Choon Ki Ahn, Peng Shi
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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.
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© 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.