| Autor: |
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 |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
Complexity, Vol 2022 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1099-0526 |
| DOI: |
10.1155/2022/3981340 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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