Observer design for a class of uncertain nonlinear systems with sampled-delayed output using High-Gain Observer and low-pass filter: Application for a quadrotor UAV
Résumé
In this paper, a novel structure of a Filtered High-Gain Observer (FHGO) is proposed for a class of nonlinear systems subject to sampled and delayed measurements, bounded disturbances and noise measurements effects. Using an LMI design approach, the novel structure of the continuous-discrete FHGO allows a larger bound of the Maximum Allowable Value of Time Delay (MAVTD). To prove the effectiveness of the proposed observer, a comparison with Kalman-like observer and standard high gain observer is provided and the corresponding experimental results are presented for a quadrotor UAV.