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

Jesus Alberto Meda-Campaña, Jonathan Omega Escobedo-Alva, José de Jesús Rubio, Carlos Aguilar-Ibañez, Jose Humberto Perez-Cruz, Guillermo Obregon-Pulido, Ricardo Tapia-Herrera, Eduardo Orozco, Daniel Andres Cordova, Marco Antonio Islas and Viet-Thanh Pham

Complexity, 2022, vol. 2022, 1-16

Abstract: 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.

Date: 2022
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:3981340

DOI: 10.1155/2022/3981340

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