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

Author

Listed:
  • 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

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.

Suggested Citation

  • 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 &, 2022. "On the Rejection of Random Perturbations and the Tracking of Random References in a Quadrotor," Complexity, John Wiley & Sons, vol. 2022(1).
    • Handle: RePEc:wly:complx:v:2022:y:2022:i:1:n:3981340
    DOI: 10.1155/2022/3981340
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    References listed on IDEAS

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    2. Ye Zhang & Ning Xu & Guoqiang Zhu & Lingfang Sun & Shengxian Cao & Xiuyu Zhang, 2020. "Adaptive Robust Dynamic Surface Integral Sliding Mode Control for Quadrotor UAVs under Parametric Uncertainties and External Disturbances," Complexity, Hindawi, vol. 2020, pages 1-20, November.
    3. Viet-Thanh Pham & Sundarapandian Vaidyanathan & Tomasz Kapitaniak, 2020. "Complexity, Dynamics, Control, and Applications of Nonlinear Systems with Multistability," Complexity, Hindawi, vol. 2020, pages 1-7, September.
    4. Ghusn Abdul Redha Ibraheem & Ahmad Taher Azar & Ibraheem Kasim Ibraheem & Amjad J. Humaidi, 2020. "A Novel Design of a Neural Network-Based Fractional PID Controller for Mobile Robots Using Hybridized Fruit Fly and Particle Swarm Optimization," Complexity, Hindawi, vol. 2020, pages 1-18, April.
    5. Gervais Dolvis Leutcho & Theophile Fonzin Fozin & Alexis Nguomkam Negou & Zeric Tabekoueng Njitacke & Viet-Thanh Pham & Jacques Kengne & Sajad Jafari, 2020. "A Novel Megastable Hamiltonian System with Infinite Hyperbolic and Nonhyperbolic Equilibria," Complexity, Hindawi, vol. 2020, pages 1-12, September.
    6. Guoqiang Zhu & Sen Wang & Lingfang Sun & Weichun Ge & Xiuyu Zhang, 2020. "Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints," Complexity, Hindawi, vol. 2020, pages 1-23, June.
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    Cited by:

    1. Ziliang Zhao & Qinglin Zhu & Bin Guo, 2022. "Robust Trajectory Tracking of Uncertain Systems via Adaptive Critic Learning," Complexity, John Wiley & Sons, vol. 2022(1).

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