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https://hdl.handle.net/2440/132240
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Type: | Journal article |
Title: | Performance recovery tracking-controller for quadcopters via invariant dynamic surface approach |
Author: | Kim, S.-K. Ahn, C.K. Shi, P. |
Citation: | IEEE Transactions on Industrial Informatics, 2019; 15(9):5235-5243 |
Publisher: | Institute of Electrical and Electronics Engineers |
Issue Date: | 2019 |
ISSN: | 1551-3203 1941-0050 |
Statement of Responsibility: | Seok-Kyoon Kim, Choon Ki Ahn, Peng Shi |
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 |
Rights: | © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. |
DOI: | 10.1109/TII.2019.2914066 |
Grant ID: | http://purl.org/au-research/grants/arc/DP170102644 |
Published version: | http://dx.doi.org/10.1109/tii.2019.2914066 |
Appears in Collections: | Computer Science publications |
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