Fatima Oliva-Palomo, Anand Sanchez-Orta, and Hussain Alazki
Estimation, nonlinear dynamical systems, quadrotor, robust controland application, ellipsoid method, robust observer design
In this paper, a design of a robust filter (state observer), which improves the state estimation of a quadrotor, is presented. It is considered that the available measurements, from low-cost sensors, have significant noise and uncertainties. Additionally, in some cases the aerial vehicle does not count with the instrumentation for the accurate estimation of the position and linear velocity that may be needed for tracking of trajectories. In our approach we propose to select the “best parameters of the suggested observer providing a minimal “size of an attractive ellipsoid containing the error trajectories. Its size is derived as a function of the applied gain matrices. To make this ellipsoid as small as possible, the corresponding constrained optimization problem is suggested to be solved. These constraints are given by a system of Bilinear Matrix Inequalities (BMIs) which can be solved using a MATLAB-toolbox such as “TOMLAB . Simulated experiments are used to demonstrate the superiority of the proposed algorithm.
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