Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 문준 | - |
dc.date.accessioned | 2022-05-04T07:02:29Z | - |
dc.date.available | 2022-05-04T07:02:29Z | - |
dc.date.issued | 2020-09 | - |
dc.identifier.citation | IEEE ACCESS, v. 8, page. 174558-174567 | en_US |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9203886 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/170575 | - |
dc.description.abstract | We propose an extended-state-observer (ESO)-based robust position tracking control method using nonlinear damping gain to improve the control performance under external disturbances and parameter uncertainties for quadrotors. The proposed method consists of an ESO and a nonlinear damping controller (NDC). The ESO is designed to estimate full state and disturbance. The external disturbance, velocity dynamics, and the uncertainty of the input parameter are lumped in the disturbance. The NDC is developed via backstepping procedure to suppress the output tracking error according to the disturbance estimation error. The proposed method is simple and robust against external disturbance and parameter uncertainties. In addition, only the nominal value of the input gain parameters are required. The closed-loop stability is proven by using the input-to-state stability property. The position tracking performance of proposed method was verified by performing hardware-in-the-loop simulations using a quadrotor platform. | en_US |
dc.description.sponsorship | This work was supported in part by the National Research Foundation of Korea (NRF) through the Energy Cloud Research and Development Program funded by the Ministry of Science, ICT (MSIT) under Grant 2019M3F2A1073313, and in part by the Ministry of Trade, Industry and Energy (MOTIE), South Korea, through the Research Program, Improved Development of an Electric Power Steering System (EPS) to Enhance the Driving Stability of Micro Electric Vehicle, under Grant 20007447. | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Extended state observer (ESO) | en_US |
dc.subject | nonlinear damping contol (NDC) | en_US |
dc.subject | quadrotor | en_US |
dc.subject | robust position control | en_US |
dc.subject | hardware-in-the-loop-simulation (HILS) | en_US |
dc.title | Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance | en_US |
dc.type | Article | en_US |
dc.relation.volume | 8 | - |
dc.identifier.doi | 10.1109/ACCESS.2020.3025969 | - |
dc.relation.page | 1-19 | - |
dc.relation.journal | IEEE ACCESS | - |
dc.contributor.googleauthor | You, Sesun | - |
dc.contributor.googleauthor | Kim, Kwanyeon | - |
dc.contributor.googleauthor | Moon, Jun | - |
dc.contributor.googleauthor | Kim, Wonhee | - |
dc.relation.code | 2020045465 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | SCHOOL OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | junmoon | - |
dc.identifier.orcid | https://orcid.org/0000-0002-8877-9519 | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.