On the Rejection of Random Perturbations and the Tracking of Random References in a Quadrotor

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...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2022, Vol.2022 (1)
Main Authors: Meda-Campaña, Jesus Alberto, Escobedo-Alva, Jonathan Omega, Rubio, José de Jesús, Aguilar-Ibañez, Carlos, Perez-Cruz, Jose Humberto, Obregon-Pulido, Guillermo, Tapia-Herrera, Ricardo, Orozco, Eduardo, Cordova, Daniel Andres, Islas, Marco Antonio
Format: Article
Language:English
Subjects:
Controllers
Kalman filters
Mathematical models
Normal distribution
Partial differential equations
Perturbation
State vectors
Stochastic processes
Tracking problem
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Summary: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.
ISSN:1076-2787
1099-0526
DOI:10.1155/2022/3981340