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

Quang Truc Dam (1) , Rihab El Houda Thabet (1) , Sofiane Ahmed Ali (2) , Francois Guerin (3)

1 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués
2 IBISC - Informatique, BioInformatique, Systèmes Complexes
3 GREAH - Groupe de Recherche en Electrotechnique et Automatique du Havre

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.

Keywords: State estimation; Filtered High-Gain observer (FHGO); Delayed system; LMI; UAV

Domains: Automatic

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, In press, pp.1-10. ⟨10.1109/TIE.2023.3247786⟩. ⟨hal-04010503⟩