The Output Regulation and the Kalman Filter as the Signal Generator
In this work, the problem of following references and rejecting disturbances that are contaminated with noise and whose dynamics are too complex to have a mathematical model that describes the behavior of such signals is studied. In addition to exploiting the capabilities of the Kalman filter (KF) t...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10230248/ |
| _version_ | 1797692188695461888 |
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| author | Jesus Alberto Meda-Campana Raul Eduardo Torres-Cruz Alexis Jesus Rojas-Ruiz Ricardo Tapia-Herrera Tonatiuh Hernandez-Cortes Luis Alberto Paramo-Carranza |
| author_facet | Jesus Alberto Meda-Campana Raul Eduardo Torres-Cruz Alexis Jesus Rojas-Ruiz Ricardo Tapia-Herrera Tonatiuh Hernandez-Cortes Luis Alberto Paramo-Carranza |
| author_sort | Jesus Alberto Meda-Campana |
| collection | DOAJ |
| description | In this work, the problem of following references and rejecting disturbances that are contaminated with noise and whose dynamics are too complex to have a mathematical model that describes the behavior of such signals is studied. In addition to exploiting the capabilities of the Kalman filter (KF) to clean the signals so that they can serve as external signals for the regulation theory, the construction of the generating system (exosystem) is proposed as a diagonal system by blocks, where each block is a Kalman filter that estimates each one of the corresponding reference/disturbance signals. The viability of the approach is verified by two examples, mimicking the problem of tracking a flying object moving freely in the 3D space by a quadrotor which is under the influence of the proposed controller when the displacements of the arbitrary flying object are measured by low-cost sensors. |
| first_indexed | 2024-03-12T02:24:01Z |
| format | Article |
| id | doaj.art-5405247878c94c13a8658857112223b1 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T02:24:01Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5405247878c94c13a8658857112223b12023-09-05T23:01:01ZengIEEEIEEE Access2169-35362023-01-0111908259083810.1109/ACCESS.2023.330885110230248The Output Regulation and the Kalman Filter as the Signal GeneratorJesus Alberto Meda-Campana0https://orcid.org/0000-0001-6557-2745Raul Eduardo Torres-Cruz1Alexis Jesus Rojas-Ruiz2Ricardo Tapia-Herrera3https://orcid.org/0000-0003-0674-9082Tonatiuh Hernandez-Cortes4https://orcid.org/0000-0002-1966-2755Luis Alberto Paramo-Carranza5SEPI-ESIME Zacatenco, Instituto Politécnico Nacional, Ciudad de México, MexicoSEPI-ESIME Zacatenco, Instituto Politécnico Nacional, Ciudad de México, MexicoSEPI-ESIME Zacatenco, Instituto Politécnico Nacional, Ciudad de México, MexicoCONACYT-SEPI-ESIME Zacatenco, Instituto Politécnico Nacional, Ciudad de México, MexicoDepartment of Mechatronics, Universidad Politécnica de Pachuca, Zempoala, MexicoESIME Zacatenco, Instituto Politécnico Nacional, Ciudad de México, MexicoIn this work, the problem of following references and rejecting disturbances that are contaminated with noise and whose dynamics are too complex to have a mathematical model that describes the behavior of such signals is studied. In addition to exploiting the capabilities of the Kalman filter (KF) to clean the signals so that they can serve as external signals for the regulation theory, the construction of the generating system (exosystem) is proposed as a diagonal system by blocks, where each block is a Kalman filter that estimates each one of the corresponding reference/disturbance signals. The viability of the approach is verified by two examples, mimicking the problem of tracking a flying object moving freely in the 3D space by a quadrotor which is under the influence of the proposed controller when the displacements of the arbitrary flying object are measured by low-cost sensors.https://ieeexplore.ieee.org/document/10230248/Kalman filterregulation theorysystem identificationstochastic systems |
| spellingShingle | Jesus Alberto Meda-Campana Raul Eduardo Torres-Cruz Alexis Jesus Rojas-Ruiz Ricardo Tapia-Herrera Tonatiuh Hernandez-Cortes Luis Alberto Paramo-Carranza The Output Regulation and the Kalman Filter as the Signal Generator IEEE Access Kalman filter regulation theory system identification stochastic systems |
| title | The Output Regulation and the Kalman Filter as the Signal Generator |
| title_full | The Output Regulation and the Kalman Filter as the Signal Generator |
| title_fullStr | The Output Regulation and the Kalman Filter as the Signal Generator |
| title_full_unstemmed | The Output Regulation and the Kalman Filter as the Signal Generator |
| title_short | The Output Regulation and the Kalman Filter as the Signal Generator |
| title_sort | output regulation and the kalman filter as the signal generator |
| topic | Kalman filter regulation theory system identification stochastic systems |
| url | https://ieeexplore.ieee.org/document/10230248/ |
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