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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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01486796
Contributor : François Chaplais <>
Submitted on : Friday, March 10, 2017 - 2:33:52 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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  • HAL Id : hal-01486796, version 1

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Philippe Martin, Ioannis Sarras. A semi-global model-based state observer for the quadrotor using only inertial measurements. 2016 IEEE 55th Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. pp.7123 - 7128. ⟨hal-01486796⟩

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