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Communication dans un congrès
A semi-global model-based state observer for the quadrotor using only inertial measurements
Abstract : We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is a simpler and more robust alternative to recent works using a similar model together with an Extended Kalman Filter (EKF). A particular state over-parametrization leads to a linear time-varying model with a nonlinear state-constraint that serves for the observer design. The proposed observer is able to ensure the uniform semi-global asymptotic stability of zero estimation error by in- corporating the nonlinear constraint into the correction terms.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01486796
Contributeur : François Chaplais <>
Soumis le : vendredi 10 mars 2017 - 14:33:52
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18
Contributeur : François Chaplais <>
Soumis le : vendredi 10 mars 2017 - 14:33:52
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18