A high-gain Observer Design for Nonlinear System with Delayed Measurements: Application to A Quadrotor UAV

Quang Truc Dam (1) , Rihab El Houda Thabet (1) , Sofiane Ahmed Ali (2) , François Guérin (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

The paper deals with design of high-gain Observer for nonlinear system with delayed output measurements and bounded disturbances. The new structure of the proposed observer exhibits good performance in term of allowing a higher MAVTD (Maximum Allowable Value of the Time-Delay) comparing to the existing works, where the MAVTD is limited due to the high value of the high-gain parameter. Based on LMI technique and using Lyapunov-Krasovskii functional, an explicit relation between MAVTD and the LMI tuning parameters is deduced from the stability analysis of the proposed observer. The efficiency of the proposed structure is illustrated through an application to a Quadrotor UAV and a comparison with standard and cascade high-gain observers is performed.

Keywords: UAV; Non-linear system; High-gain Observer (HGO); LMI; Delayed system

Domains: Automatic

Quang Truc Dam, Rihab El Houda Thabet, Sofiane Ahmed Ali, François Guérin. A high-gain Observer Design for Nonlinear System with Delayed Measurements: Application to A Quadrotor UAV. 22nd World Congress of the International Federation of Automatic Control (World Congress IFAC 2023), Jul 2023, Yokohama, Japan. pp.6739--6744, ⟨10.1016/j.ifacol.2023.10.379⟩. ⟨hal-04015385⟩