TY - JOUR
T1 - Theoretical application of a hybrid observer on altitude tracking of quadrotor losing GPS signal
AU - Escobedo-Alva, Jonathan Omega
AU - Garcia-Estrada, Elba Cinthya
AU - Paramo-Carranza, Luis Alberto
AU - Meda-Campana, Jesus Alberto
AU - Tapia-Herrera, Ricardo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018
Y1 - 2018
N2 - In this paper, it is theoretically demonstrated that a quadrotor can track trajectories using a low-cost global positioning system with signal losses in unpredictable instants. The lack of a continuous altitude output and the signal loss are solved with certain limitations using two-hybrid linear observers. This type of observer is originally employed to compensate for data loss in computer networks. This was possible due to the sufficient conditions for uniform global asymptotic stability theorems of hybrid systems with persistent jumping. This concept is based on a dynamic hybrid system that guarantees a jumping condition with a Lyapunov function constant when the system flows and decreases during jumps. The quadrotor was modeled like a linear time-invariant system. The results are presented using simulations.
AB - In this paper, it is theoretically demonstrated that a quadrotor can track trajectories using a low-cost global positioning system with signal losses in unpredictable instants. The lack of a continuous altitude output and the signal loss are solved with certain limitations using two-hybrid linear observers. This type of observer is originally employed to compensate for data loss in computer networks. This was possible due to the sufficient conditions for uniform global asymptotic stability theorems of hybrid systems with persistent jumping. This concept is based on a dynamic hybrid system that guarantees a jumping condition with a Lyapunov function constant when the system flows and decreases during jumps. The quadrotor was modeled like a linear time-invariant system. The results are presented using simulations.
KW - Control design
KW - global positioning system
KW - hybrid intelligent systems
KW - linear systems
KW - observers
KW - stability analysis
UR - http://www.scopus.com/inward/record.url?scp=85057803631&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2018.2883596
DO - 10.1109/ACCESS.2018.2883596
M3 - Artículo
AN - SCOPUS:85057803631
SN - 2169-3536
VL - 6
SP - 76900
EP - 76908
JO - IEEE Access
JF - IEEE Access
M1 - 8548541
ER -