Abstract.The Doppler spectrum estimation of a weather radar signal in a classic way can be made by two methods, temporal one based in the autocorrelation of the successful signals, whereas the other one uses the estimation of the power spectral density PSD by using Fourier transforms. We introduces a new tool of signal processing based on Ramanujan sums cq(n), adapted to the analysis of arithmetical sequences with several resonances p/q. These sums are almost periodic according to time n of resonances and aperiodic according to the order q of resonances. New results will be supplied by the use of Ramanujan Fourier Transform (RFT) for the estimation of the Doppler spectrum for the weather radar signal.
Purpose
This paper aims to propose a new multi-layered optimal navigation system that jointly optimizes the energy consumption, improves the robustness and raises the performance of a quadrotor unmanned aerial vehicle (UAV).
Design/methodology/approach
The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure the UAV from collisions. Finally, the control layer allows the quadrotor to track the generated path and guarantees the stability using a double loop non-linear optimal backstepping controller (OBS).
Findings
All the obtained results are confirmed using several scenarios in different situations to prove the accuracy, energy optimization and the robustness of the designed system.
Practical implications
The proposed controllers are easily implementable on-board and are computationally efficient.
Originality/value
The originality of this research is the design of a multi-layered optimal navigation system for quadrotor UAV. The proposed control architecture presents a direct relation between the states and their derivatives, which then simplifies the trajectory generation problem. Furthermore, the derived differentially flat equations allow optimization to occur within the output space as opposed to the control space. This is beneficial because constraints such as obstacle avoidance occur in the output space; hence, the computation time for constraint handling is reduced. For the OBS, the novelty is that all controller parameters are derived using the multi-objective genetic algorithm (MO-GA) that optimizes all the quadrotor state’s cost functions jointly.
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