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 article, 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 using an linear matrix inequality (LMI) design approach, the novel structure of the continuous-discrete FHGO allows a larger bound of the maximum allowable value of time delay. 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.

Topics & Concepts