TY - JOUR
T1 - On the Rejection of Random Perturbations and the Tracking of Random References in a Quadrotor
AU - Meda-Campaña, Jesus Alberto
AU - Escobedo-Alva, Jonathan Omega
AU - Rubio, José De Jesús
AU - Aguilar-Ibañez, Carlos
AU - Perez-Cruz, Jose Humberto
AU - Obregon-Pulido, Guillermo
AU - Tapia-Herrera, Ricardo
AU - Orozco, Eduardo
AU - Cordova, Daniel Andres
AU - Islas, Marco Antonio
N1 - Publisher Copyright:
© 2022 Jesus Alberto Meda-Campaña et al.
PY - 2022
Y1 - 2022
N2 - In this note, the problem of tracking random references and rejecting random perturbations in a quadrotor, both generated by an auxiliary system named exosystem, is solved by extending the deterministic tracking problem to the area of stochastic processes. Besides, it is considered that only a part of the state vector of the quadrotor is available through measurements. As a consequence, the state vector of the plant must be estimated in order to close the control loop. On this basis, a controller to track random references and to reject random perturbations is developed by combining a Kalman filter to estimate the references and perturbations of an exosystem and an observer to estimate the states of a quadrotor. Besides, to obtain a more practical controller, the analysis is carried out in discrete time. Numerical simulations are used in a quadrotor to confirm the validity and effectiveness of the proposed control.
AB - In this note, the problem of tracking random references and rejecting random perturbations in a quadrotor, both generated by an auxiliary system named exosystem, is solved by extending the deterministic tracking problem to the area of stochastic processes. Besides, it is considered that only a part of the state vector of the quadrotor is available through measurements. As a consequence, the state vector of the plant must be estimated in order to close the control loop. On this basis, a controller to track random references and to reject random perturbations is developed by combining a Kalman filter to estimate the references and perturbations of an exosystem and an observer to estimate the states of a quadrotor. Besides, to obtain a more practical controller, the analysis is carried out in discrete time. Numerical simulations are used in a quadrotor to confirm the validity and effectiveness of the proposed control.
UR - http://www.scopus.com/inward/record.url?scp=85124108490&partnerID=8YFLogxK
U2 - 10.1155/2022/3981340
DO - 10.1155/2022/3981340
M3 - Artículo
AN - SCOPUS:85124108490
SN - 1076-2787
VL - 2022
JO - Complexity
JF - Complexity
M1 - 3981340
ER -