Reference : On the Unknown Input Functional Observer Design via Polytopic Lyapunov Function: Appl...
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Engineering, computing & technology : Electrical & electronics engineering
On the Unknown Input Functional Observer Design via Polytopic Lyapunov Function: Application to a Quadrotor Aerial Robots Landing
Bezzaoucha, Souad mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Darouach, Mohamed [Université de Lorraine > > > Pr]
20th World Congress of the International Federation of Automatic Control (Ifac WC)
from 09-07-2017 to 14-07-2017
[en] Functional Observer ; Unknown Inputs ; Polytopic approach ; Nonlinear continuous time systems
[en] 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.

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