References of "Voos, Holger 50003283"      in Complete repository Arts & humanities   Archaeology   Art & art history   Classical & oriental studies   History   Languages & linguistics   Literature   Performing arts   Philosophy & ethics   Religion & theology   Multidisciplinary, general & others Business & economic sciences   Accounting & auditing   Production, distribution & supply chain management   Finance   General management & organizational theory   Human resources management   Management information systems   Marketing   Strategy & innovation   Quantitative methods in economics & management   General economics & history of economic thought   International economics   Macroeconomics & monetary economics   Microeconomics   Economic systems & public economics   Social economics   Special economic topics (health, labor, transportation…)   Multidisciplinary, general & others Engineering, computing & technology   Aerospace & aeronautics engineering   Architecture   Chemical engineering   Civil engineering   Computer science   Electrical & electronics engineering   Energy   Geological, petroleum & mining engineering   Materials science & engineering   Mechanical engineering   Multidisciplinary, general & others Human health sciences   Alternative medicine   Anesthesia & intensive care   Cardiovascular & respiratory systems   Dentistry & oral medicine   Dermatology   Endocrinology, metabolism & nutrition   Forensic medicine   Gastroenterology & hepatology   General & internal medicine   Geriatrics   Hematology   Immunology & infectious disease   Laboratory medicine & medical technology   Neurology   Oncology   Ophthalmology   Orthopedics, rehabilitation & sports medicine   Otolaryngology   Pediatrics   Pharmacy, pharmacology & toxicology   Psychiatry   Public health, health care sciences & services   Radiology, nuclear medicine & imaging   Reproductive medicine (gynecology, andrology, obstetrics)   Rheumatology   Surgery   Urology & nephrology   Multidisciplinary, general & others Law, criminology & political science   Civil law   Criminal law & procedure   Criminology   Economic & commercial law   European & international law   Judicial law   Metalaw, Roman law, history of law & comparative law   Political science, public administration & international relations   Public law   Social law   Tax law   Multidisciplinary, general & others Life sciences   Agriculture & agronomy   Anatomy (cytology, histology, embryology...) & physiology   Animal production & animal husbandry   Aquatic sciences & oceanology   Biochemistry, biophysics & molecular biology   Biotechnology   Entomology & pest control   Environmental sciences & ecology   Food science   Genetics & genetic processes   Microbiology   Phytobiology (plant sciences, forestry, mycology...)   Veterinary medicine & animal health   Zoology   Multidisciplinary, general & others Physical, chemical, mathematical & earth Sciences   Chemistry   Earth sciences & physical geography   Mathematics   Physics   Space science, astronomy & astrophysics   Multidisciplinary, general & others Social & behavioral sciences, psychology   Animal psychology, ethology & psychobiology   Anthropology   Communication & mass media   Education & instruction   Human geography & demography   Library & information sciences   Neurosciences & behavior   Regional & inter-regional studies   Social work & social policy   Sociology & social sciences   Social, industrial & organizational psychology   Theoretical & cognitive psychology   Treatment & clinical psychology   Multidisciplinary, general & others     Showing results 1 to 20 of 175 1 2 3 4 5 6     A Contribution to Cyber-Physical Systems Security: an Event-based Attack-tolerant Control ApproachBezzaoucha, Souad ; Voos, Holger in Proceedings of 10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2018 (2018, August 29)In the present paper, a model-based fault/attack tolerant scheme is proposed to deal with cyber-threats on Cyber Physicals Systems. A common scheme based on observers is designed and a state feedback ... [more ▼]In the present paper, a model-based fault/attack tolerant scheme is proposed to deal with cyber-threats on Cyber Physicals Systems. A common scheme based on observers is designed and a state feedback control based on an event-triggered framework is given with control synthesis and condition on the switching time. An event-based implementation is proposed in order to achieve novel security strategy. Observer and controller gains are deduced by solving su cient Bilinear Matrix Inequality (BMI) condition. Simulation results on a real-time laboratory three tank system are given to show the attack-tolerant control ability despite data deception attacks on both actuators and sensors. [less ▲]Detailed reference viewed: 57 (10 UL) A Decoupling Approach to Design Observers for Polytopic Takagi-Sugeno Models Subject to Unknown InputsBezzaoucha, Souad ; Voos, Holger ; Davila, Jorge et alin Proceedings of the 2018 American Control Conference (2018, June 27)A decoupling approach for state estimation of nonlinear systems represented in the polytopic Takagi-Sugeno with unmeasurable premise variables subject to unknown inputs is proposed in this paper. The idea ... [more ▼]A decoupling approach for state estimation of nonlinear systems represented in the polytopic Takagi-Sugeno with unmeasurable premise variables subject to unknown inputs is proposed in this paper. The idea consists in defining a state and unknown input transformations in order to divide the state vector into two parts, a measurable part and an observable one (decoupled from the unknown input). A classical Luenberger observer to estimate the unmeasurable part is then designed and given in terms of Linear Matrix Inequalities (LMIs) conditions. A numerical example is also presented in order to illustrate the proposed approach. [less ▲]Detailed reference viewed: 27 (3 UL) Cyber Security and Vulnerability Analysis of Networked Control System subject to False-Data injectionGerard, Benjamin; Bezzaoucha, Souad ; Voos, Holger et alin Proceedings of the 2018 American Control Conference (2018, June 27)In the present paper, the problem of networked control system (NCS) cyber security is considered. The geometric approach is used to evaluate the security and vulnerability level of the controlled system ... [more ▼]In the present paper, the problem of networked control system (NCS) cyber security is considered. The geometric approach is used to evaluate the security and vulnerability level of the controlled system. The proposed results are about the so-called false data injection attacks and show how imperfectly known disturbances can be used to perform undetectable, or at least stealthy, attacks that can make the NCS vulnerable to attacks from malicious outsiders. A numerical example is given to illustrate the approach. [less ▲]Detailed reference viewed: 65 (5 UL) A Mathematical Model and a Firefly Algorithm for an Extended Flexible Job Shop Problem with Availability ConstraintsTessaro Lunardi, Willian ; Cherri, Luiz Henrique; Voos, Holger in 17th International Conference on Artificial Intelligence and Soft Computing, Zakopane, Poland, June 3-7, 2018 (2018, June)Manufacturing scheduling strategies have historically ignored the availability of the machines. The more realistic the schedule, more accurate the calculations and predictions. Availability of machines ... [more ▼]Manufacturing scheduling strategies have historically ignored the availability of the machines. The more realistic the schedule, more accurate the calculations and predictions. Availability of machines will play a crucial role in the Industry 4.0 smart factories. In this paper, a mixed integer linear programming model (MILP) and a discrete firefly algorithm (DFA) are proposed for an extended multi-objective FJSP with availability constraints (FJSP-FCR). Several standard instances of FJSP have been used to evaluate the performance of the model and the algorithm. New FJSP-FCR instances are provided. Comparisons among the proposed methods and other state-of-the-art reported algorithms are also presented. Alongside the proposed MILP model, a Genetic Algorithm is implemented for the experiments with the DFA. Extensive investigations are conducted to test the performance of the proposed model and the DFA. The comparisons between DFA and other recently published algorithms shows that it is a feasible approach for the stated problem. [less ▲]Detailed reference viewed: 73 (12 UL) Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive ControlDentler, Jan Eric ; Rosalie, Martin ; Danoy, Grégoire et alin Journal of Intelligent \& Robotic Systems (2018)The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a ... [more ▼]The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics. [less ▲]Detailed reference viewed: 26 (4 UL) Comparative Study of Genetic and Discrete Firefly Algorithm for Combinatorial OptimizationTessaro Lunardi, Willian ; Voos, Holger in 33rd ACM/SIGAPP Symposium On Applied Computing, Pau, France, April 9 - 13, 2018 (2018, April)Flexible job-shop scheduling problem (FJSP) is one of the most challenging combinatorial optimization problems. FJSP is an extension of the classical job shop scheduling problem where an operation can be ... [more ▼]Flexible job-shop scheduling problem (FJSP) is one of the most challenging combinatorial optimization problems. FJSP is an extension of the classical job shop scheduling problem where an operation can be processed by several different machines. The FJSP contains two sub-problems, namely machine assignment problem and operation sequencing problem. In this paper, we propose and compare a discrete firefly algorithm (FA) and a genetic algorithm (GA) for the multi-objective FJSP. Three minimization objectives are considered, the maximum completion time, workload of the critical machine and total workload of all machines. Five well-known instances of FJSP have been used to evaluate the performance of the proposed algorithms. Comparisons among our methods and state-of-the-art algorithms are also provided. The experimental results demonstrate that the FA and GA have achieved improvements in terms of efficiency. Solutions obtained by both algorithms are comparable to those obtained by algorithms with local search. In addition, based on our initial experiments, results show that the proposed discrete firefly algorithm is feasible, more effective and efficient than our proposed genetic algorithm for solving multi-objective FJSP. [less ▲]Detailed reference viewed: 243 (63 UL) A Reference Architecture for Deploying Component-based Robot Software and Comparison with Existing ToolsHochgeschwender, Nico ; Biggs, Geoffrey; Voos, Holger in Proceedings of the IEEE International Conference on Robotic Computing (2018)Detailed reference viewed: 40 (2 UL) Model predictive cooperative localization control of multiple UAVs using potential function sensor constraintsDentler, Jan Eric ; Kannan, Somasundar ; Bezzaoucha, Souad et alin Autonomous Robots (2018)The global localization of multiple mobile robots can be achieved cost efficiently by localizing one robot globally and the others in relation to it using local sensor data. However, the drawback of this ... [more ▼]The global localization of multiple mobile robots can be achieved cost efficiently by localizing one robot globally and the others in relation to it using local sensor data. However, the drawback of this cooperative localization is the requirement of continuous sensor information. Due to a limited sensor perception space, the tracking task to continuously maintain this sensor information is challenging. To address this problem, this contribution is presenting a model predictive control (MPC) approach for such cooperative localization scenarios. In particular, the present work shows a novel workflow to describe sensor limitations with the help of potential functions. In addition, a compact motion model for multi-rotor drones is introduced to achieve MPC real-time capability. The effectiveness of the presented approach is demonstrated in a numerical simulation, an experimental indoor scenario with two quadrotors as well as multiple indoor scenarios of a quadrotor obstacle evasion maneuver. [less ▲]Detailed reference viewed: 57 (14 UL) Model-Driven Interaction Design for Social RobotsCornelius, Gary Philippe ; Hochgeschwender, Nico ; Voos, Holger in 4th International Workshop on Model-driven Robot Software Engineering, Marburg, Germany, 2017 (2017, December)Robotic software development frameworks lack a possibility to present,validate and generate qualitative complex human robot interactions and robot de-velopers are mostly left with unclear informal project ... [more ▼]Robotic software development frameworks lack a possibility to present,validate and generate qualitative complex human robot interactions and robot de-velopers are mostly left with unclear informal project specifications. The devel-opment of a human-robot interaction is a complex task and involves different ex-perts, for example, the need for human-robot interaction (HRI) specialists, whoknow about the psychological impact of the robot’s movements during the in-teraction in order to design the best possible user experience. In this paper, wepresent a new project that aims to provide exactly this. Focusing on the interac-tion flow and movements of a robot for human-robot interactions we aim to pro-vide a set of modelling languages for human-robot interaction which serves as acommon, more formal, discussion point between the different stakeholders. Thisis a new project and the main topics of this publication are the scenario descrip-tion, the analysis of the different stakeholders, our experience as robot applicationdevelopers for our partner, as well as the future work we plan to achieve. [less ▲]Detailed reference viewed: 70 (19 UL) Evasive Maneuvering for UAVs: An MPC ApproachCastillo Lopez, Manuel ; Olivares Mendez, Miguel Angel ; Voos, Holger in ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017 (2017, November 22)Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive ... [more ▼]Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight controller that drives the UAV through collision-free trajectories to reach a given pose or follow a way-point path. The major advantage of this approach lies on the inclusion of three-dimensional obstacle avoidance in the control layer by adding ellipsoidal constraints to the optimal control problem. The obstacles can be added, moved and resized online, providing a way to perform waypoint navigation without the need of motion planning. In addition, the delays of the system are considered in the prediction by an experimental first order with delay model of the system. Successful experiments in 3D path tracking and obstacle avoidance validates its effectiveness for sense-and-avoid and surveillance applications presenting the proper structure to extent its autonomy and applications. [less ▲]Detailed reference viewed: 68 (12 UL) A Perspective of Security for Mobile Service RobotsCornelius, Gary Philippe ; Hochgeschwender, Nico ; Voos, Holger et alin Iberian Robotics Conference, Seville, Spain, 2017 (2017, November 22)Future homes will contain Mobile Service Robots (MSR) with diverse functionality. MSRs act in close proximity to humans and have the physical capabilities to cause serious harm to their environment ... [more ▼]Future homes will contain Mobile Service Robots (MSR) with diverse functionality. MSRs act in close proximity to humans and have the physical capabilities to cause serious harm to their environment. Furthermore, they have sensors that gather large amounts of data, which might contain sensitive information. A mobile service robot’s physical capabilities are controlled by networked computers susceptible to faults and intrusions. The proximity to humans and the possibility to physically interact with them makes it critical to think about the security issues of MSRs. In this work, we investigate possible attacks on mobile service robots. We survey adversary motivations to attack MSRs, analyse threat vectors and list different available defence mechanisms against attacks on MSRs. [less ▲]Detailed reference viewed: 166 (61 UL) Observer-based Event-triggered Attack-Tolerant Control Design for Cyber-physical SystemsBezzaoucha, Souad ; Voos, Holger ; Darouach, Mohamedin 14th International Workshop on Advanced Control and Diagnosis, Bucharest, Romania, November 2017 (2017, November)In the present paper, a model-based fault/attack tolerant scheme is proposed to cope with cyber-threats on Cyber Physicals Systems. A common scheme based on observers is designed and a state feedback ... [more ▼]In the present paper, a model-based fault/attack tolerant scheme is proposed to cope with cyber-threats on Cyber Physicals Systems. A common scheme based on observers is designed and a state feedback control based on an aperiodic event-triggered framework is given with control synthesis and condition on the switching time. Classical fault tolerant control with Bilinear Matrix Inequality (BMI) approaches are used to achieve novel and better security strategy based on an event-triggered control implementation. The purpose in using the event-based implementation would be to reduce (limit) the total number of transmissions to only instances when the networked control system (NCS) needs attention. An illustrative example of the proposed approach applied to a three-tank system is presented. [less ▲]Detailed reference viewed: 73 (3 UL) Deadzone-Quadratic Penalty Function for Predictive Extended Cruise Control with Experimental ValidationSajadi Alamdari, Seyed Amin ; Voos, Holger ; Darouach, Mohamedin ROBOT 2017: Third Iberian Robotics Conference, Sevilla, Spain 22-24 November 2017 (2017, November)Battery Electric Vehicles have high potentials for the modern transportations, however, they are facing limited cruising range. To address this limitation, we present a semi-autonomous ecological driver ... [more ▼]Battery Electric Vehicles have high potentials for the modern transportations, however, they are facing limited cruising range. To address this limitation, we present a semi-autonomous ecological driver assistance system to regulate the velocity with energy-efficient techniques. The main contribution of this paper is the design of a real-time nonlinear receding horizon optimal controller to plan the online cost-effective cruising velocity. Instead of conventional L2-norms, a deadzone-quadratic penalty function for the nonlinear model predictive controller is proposed. Obtained field experimental results demonstrate the effectiveness of the proposed method for a semi-autonomous electric vehicle in terms of real-time energy-efficient velocity regulation and constraints satisfaction. [less ▲]Detailed reference viewed: 39 (6 UL) Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systemsDentler, Jan Eric ; Kannan, Somasundar ; Olivares Mendez, Miguel Angel et alin 2017 IEEE Conference on Control Technology and Applications (CCTA) (2017, August 30)This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined ... [more ▼]This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line adaptable to changes in the control scenario. Examples for such scenarios are cooperative control, task-based control and fault-tolerant control, where the system's topology, dynamics, objectives and constraints are changing. The framework combines a fast Nonlinear Model Predictive Control (NMPC), a communication interface with the Robot Operating System (ROS) [1] as well as a modularization that allows an event-based change of the NMPC scenario. To experimentally validate performance and event-based adaptability of the framework, this paper is using a cooperative control scenario of Unmanned Aerial Vehicles (UAVs). The source code of the proposed framework is available under [2]. [less ▲]Detailed reference viewed: 64 (17 UL) Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative studyQuintanar Guzman, Serket ; Kannan, Somasundar ; Aguilera Gonzalez, Adriana et alin Journal of Intelligent Material Systems & Structures (2017)This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system ... [more ▼]This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm. [less ▲]Detailed reference viewed: 29 (7 UL) Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPCRosalie, Martin ; Dentler, Jan Eric ; Danoy, Grégoire et alin 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, July 27)The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already ... [more ▼]The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility model as waypoints for real UAVs. A control model of the UAVs is deployed to test the efficiency of the coverage of an area by the swarm. We have tested our approach in a realistic robotics simulator (V-Rep) which is connected with ROS. We compare the performance in terms of coverage using several metrics to ensure that this mobility model is efficient for real UAVs. [less ▲]Detailed reference viewed: 105 (17 UL) Risk-averse Stochastic Nonlinear Model Predictive Control for Real-time Safety-critical SystemsSajadi Alamdari, Seyed Amin ; Voos, Holger ; Darouach, Mohamedin The 20th World Congress of the International Federation of Automatic Control, IFAC 2017 World Congress, Toulouse, France, 9-14 July 2017 (2017, July 11)Stochastic nonlinear model predictive control has been developed to systematically find an optimal decision with the aim of performance improvement in dynamical systems that involve uncertainties. However ... [more ▼]Stochastic nonlinear model predictive control has been developed to systematically find an optimal decision with the aim of performance improvement in dynamical systems that involve uncertainties. However, most of the current methods are risk-neutral for safety-critical systems and depend on computationally expensive algorithms. This paper investigates on the risk-averse optimal stochastic nonlinear control subject to real-time safety-critical systems. In order to achieve a computationally tractable design and integrate knowledge about the uncertainties, bounded trajectories generated to quantify the uncertainties. The proposed controller considers these scenarios in a risk-sensitive manner. A certainty equivalent nonlinear model predictive control based on minimum principle is reformulated to optimise nominal cost and expected value of future recourse actions. The capability of proposed method in terms of states regulations, constraints fulfilment, and real-time implementation is demonstrated for a semi-autonomous ecological advanced driver assistance system specified for battery electric vehicles. This system plans for a safe and energy-efficient cruising velocity profile autonomously. [less ▲]Detailed reference viewed: 71 (5 UL) LMI-Based H_infty Nonlinear State Observer Design for Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin IEEE Mediterranean Conference on Control and Automation, Valletta 3-6 July 2017 (2017, July)This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of ... [more ▼]This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of systems, mainly linear systems, Linear Parameter Varying (LPV) systems with known and bounded parameters, and nonlinear Lipschitz systems. Applying the Lyapunov theory and theH¥ criterion, Linear Matrix Inequality (LMI) condition is synthesised and solved to obtain the designed observer gains. The novelty of our work consists in the relaxation of the synthesized LMI condition through the inclusion of additional decision variables. This was possible due to the use of a suitable reformulation of the Young’s inequality. Stability, effectiveness and potency of the theoretical results are confirmed by the simulation results. [less ▲]Detailed reference viewed: 28 (3 UL) An LMI-Based H_infty Discrete-Time Nonlinear State Observer Design for an Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger in World Congress of the International Federation of Automatic Control, Toulouse 9-14 July 2017 (2017, July)This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear ... [more ▼]This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. We use an LMI approach to guarantee the H1 asymptotic stability of the estimation error despite the disturbances a ecting the system dynamics and measurements. The synthesised LMI is relaxed due to the inclusion of additional decision variables which enhance its feasibility. This was possible due to the use of a suitable reformulation of the Young's inequality. Simulation results are given to show the robustness of the designed observer. [less ▲]Detailed reference viewed: 33 (3 UL) On the Unknown Input Functional Observer Design via Polytopic Lyapunov Function: Application to a Quadrotor Aerial Robots LandingBezzaoucha, Souad ; Voos, Holger ; Darouach, Mohamedin IFAC-PapersOnLine (2017, July)In this paper, a constructive procedure to design functional unknown input observer for nonlinear continuous time systems under the Polytopic Takagi-Sugeno framework (also known as multiple models systems ... [more ▼]In this paper, a constructive procedure to design functional unknown input observer for nonlinear continuous time systems under the Polytopic Takagi-Sugeno framework (also known as multiple models systems) is proposed. Applying the Lyapunov theory, Linear Matrix Inequalities (LMI)s conditions are deduced which are solved for feasibility to obtain observer design matrices. To reject the effect of unknown input, classical approach of decoupling the unknown input for the linear case is used. A comparative study between single and Polytopic Lyapunov function is made in order to prove the relaxation effect of the Multiple functions. A solver based solution is then proposed. It will be shown through applicative example (a Quadrotor Aerial Robots Landing) that even if the proposed LMIs solver based solution may look conservative, an adequate choice of the solver makes it suitable for the application of the proposed approach. [less ▲]Detailed reference viewed: 29 (5 UL)