A Polytopic Approach for the Nonlinear Unknown Input Functional Observers Design: Application to a Quadrotor Aerial Robots Landing

Bezzaoucha, Souad; Voos, Holger; Darouach, Mohamed

Reference : A Polytopic Approach for the Nonlinear Unknown Input Functional Observers Design: App...


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/25193

Title :	A Polytopic Approach for the Nonlinear Unknown Input Functional Observers Design: Application to a Quadrotor Aerial Robots Landing
Language :	English
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]
Publication date :	Jun-2016
Main document title :	2016 European Control Conference (ECC), Aalborg, Denmark
Pages :	1146-1152
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	2016 European Control Conference (ECC)
Event date :	from 29-06-2016 tp 01-07-2016
Event place (city) :	Aalborg
Event country :	Denmark
Keywords :	[en] Functional Observer ; Nonlinear Polytopic Systems ; Quadrotor Aerial Robots Landing
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/25193

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