[en] This paper considers a method of designing functional observers for continuous time nonlinear systems subject to unknown inputs. The proposed approach consists in rewriting the nonlinear model in a polytopic form (also known as multiple or Takagi-Sugeno models) applying the Sector Nonlinearity Transformation (SNT) and then apply the proposed algorithm for the observer design. Sufficient conditions for the asymptotic stability of the estimation error are given in terms of linear matrix inequalities (LMIs) and rank conditions. An application to a quadrotor aerial robots landing is then presented.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
BEZZAOUCHA, Souad ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
VOOS, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Darouach, Mohamed; Research Center for Automatic Control of Nancy (CRAN), Lorraine University > Pr
Co-auteurs externes :
yes
Langue du document :
Anglais
Titre :
A Polytopic Approach for the Nonlinear Unknown Input Functional Observers Design: Application to a Quadrotor Aerial Robots Landing
Date de publication/diffusion :
juin 2016
Nom de la manifestation :
2016 European Control Conference (ECC)
Lieu de la manifestation :
Aalborg, Danemark
Date de la manifestation :
from 29-06-2016 tp 01-07-2016
Manifestation à portée :
International
Titre de l'ouvrage principal :
2016 European Control Conference (ECC), Aalborg, Denmark
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