[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 :
Computer science
Author, co-author :
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
External co-authors :
yes
Language :
English
Title :
A Polytopic Approach for the Nonlinear Unknown Input Functional Observers Design: Application to a Quadrotor Aerial Robots Landing
Publication date :
June 2016
Event name :
2016 European Control Conference (ECC)
Event place :
Aalborg, Denmark
Event date :
from 29-06-2016 tp 01-07-2016
Audience :
International
Main work title :
2016 European Control Conference (ECC), Aalborg, Denmark
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