Journal
IEEE ACCESS
Volume 6, Issue -, Pages 76900-76908Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2018.2883596
Keywords
Control design; global positioning system; hybrid intelligent systems; linear systems; observers; stability analysis
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Funding
- Consejo Nacional de Ciencia y Tecnologia through scholarship Sistema Nacional de Investigadores
- Instituto Politecnico Nacional
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In this paper, it is theoretically demonstrated that a quadrotor can track trajectories using a low-cost global positioning system with signal losses in unpredictable instants. The lack of a continuous altitude output and the signal loss are solved with certain limitations using two-hybrid linear observers. This type of observer is originally employed to compensate for data loss in computer networks. This was possible due to the sufficient conditions for uniform global asymptotic stability theorems of hybrid systems with persistent jumping. This concept is based on a dynamic hybrid system that guarantees a jumping condition with a Lyapunov function constant when the system flows and decreases during jumps. The quadrotor was modeled like a linear time-invariant system. The results are presented using simulations.
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