Theoretical Application of a Hybrid Observer on Altitude Tracking of Quadrotor Losing GPS Signal

• Main Authors: Jonathan Omega Escobedo-Alva, Elba Cinthya Garcia-Estrada, Luis Alberto Paramo-Carranza, Jesus Alberto Meda-Campana, Ricardo Tapia-Herrera
• Format: Article
• Language: English
• Published: IEEE 2018-01-01
• Series: IEEE Access
• Subjects: Control design; global positioning system; hybrid intelligent systems; linear systems; observers; stability analysis
• Online Access: https://ieeexplore.ieee.org/document/8548541/
• ISSN: 2169-3536

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.