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 - Université d'Évry Access content directly
Journal Articles IEEE Transactions on Industrial Electronics Year : 2024

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

Abstract

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.

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hal-04010503 , version 1 (01-03-2023)

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Quang Truc Dam, Rihab El Houda Thabet, Sofiane Ahmed Ali, Francois Guerin. 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. IEEE Transactions on Industrial Electronics, 2024, 71 (1), pp.933--942. ⟨10.1109/TIE.2023.3247786⟩. ⟨hal-04010503⟩
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