<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error bounding ellipsoid are identified as the parameters that define the behaviour of the estimation. Then, it is shown that these objectives can be merged in a scalarised objective function with one design parameter, making the design problem convex. In the second part of the article, a UAV model is presented which can be made linear by considering a particular state and frame of reference. The UAV model is extended to incorporate a disturbance model of variable size. The joint model matches the structure required to derive an observer, following the lines of the proposed design approach. An observer for disturbances acting on the UAV is derived and the analysis of the performances with respect to the design parameters is presented. The effectiveness and main characteristics of the proposed approach are shown using simulation results.</p></abstract>

This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error bounding ellipsoid are identified as the parameters that define the behaviour of the estimation. Then, it is shown that these objectives can be merged in a scalarised objective function with one design parameter, making the design problem convex. In the second part of the article, a UAV model is presented which can be made linear by considering a particular state and frame of reference. The UAV model is extended to incorporate a disturbance model of variable size. The joint model matches the structure required to derive an observer, following the lines of the proposed design approach. An observer for disturbances acting on the UAV is derived and the analysis of the performances with respect to the design parameters is presented. The effectiveness and main characteristics of the proposed approach are shown using simulation results.

Optimal state observation using quadratic boundedness: Application to UAV disturbance estimation

Polytechnic University of Catalonia (UPC)

Institute of Robotics and Industrial Informatics (CSIC-UPC)

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability...

Optimal state observation using quadratic boundedness: Application to UAV disturbance estimation

Pubblicato online: 29 mar 2019

Pagine: 99 - 109

Ricevuto: 15 dic 2017

Accettato: 16 dic 2018

DOI: https://doi.org/10.2478/amcs-2019-0008

Parole chiave
disturbance estimation, unmanned aerial vehicles (UAVs), optimal estimation and filtering, system modelling

© 2019 Julián Cayero et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Optimal state observation using quadratic boundedness: Application to UAV disturbance estimation

Pubblicato online: 29 mar 2019

Pagine: 99 - 109

Ricevuto: 15 dic 2017

Accettato: 16 dic 2018

DOI: https://doi.org/10.2478/amcs-2019-0008

Parole chiavedisturbance estimation, unmanned aerial vehicles (UAVs), optimal estimation and filtering, system modelling

© 2019 Julián Cayero et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Parole chiave
disturbance estimation, unmanned aerial vehicles (UAVs), optimal estimation and filtering, system modelling