Optimal state observation using quadratic boundedness: Application to UAV disturbance estimation

• Autorzy: Cayero Julián , Rotondo Damiano , Morcego Bernardo , Puig Vicenç

Identyfikatory

DOI

10.2478/amcs-2019-0008

• Języki publikacji: EN

Abstrakty

EN

This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error bounding ellipsoid are identified as the parameters that define the behaviour of the estimation. Then, it is shown that these objectives can be merged in a scalarised objective function with one design parameter, making the design problem convex. In the second part of the article, a UAV model is presented which can be made linear by considering a particular state and frame of reference. The UAV model is extended to incorporate a disturbance model of variable size. The joint model matches the structure required to derive an observer, following the lines of the proposed design approach. An observer for disturbances acting on the UAV is derived and the analysis of the performances with respect to the design parameters is presented. The effectiveness and main characteristics of the proposed approach are shown using simulation results.

Słowa kluczowe

EN

disturbance estimation; unmanned aerial vehicle; optimal estimation; optimal filtering; system modelling

PL

bezzałogowy statek powietrzny; oszacowanie optymalne; modelowanie systemowe

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2019
• Tom: Vol. 29, no. 1
• Strony: 99--109
• Opis fizyczny: Bibliogr. 46 poz., wykr.

Twórcy

autor

Cayero Julián

• Specific Research Center CS2AC, Polytechnic University of Catalonia (UPC), Rbla. Sant Nebridi 22, 08222 Terrassa, Spain

autor

Rotondo Damiano

• Specific Research Center CS2AC, Polytechnic University of Catalonia (UPC), Rbla. Sant Nebridi 22, 08222 Terrassa, Spain; Institute of Robotics and Industrial Informatics (CSIC-UPC), Polytechnic University of Catalonia (UPC), Llorens i Artigas 4–6, 08028 Barcelona, Spain

autor

Morcego Bernardo

• Specific Research Center CS2AC, Polytechnic University of Catalonia (UPC), Rbla. Sant Nebridi 22, 08222 Terrassa, Spain

autor

Puig Vicenç

• Specific Research Center CS2AC, Polytechnic University of Catalonia (UPC), Rbla. Sant Nebridi 22, 08222 Terrassa, Spain; Institute of Robotics and Industrial Informatics (CSIC-UPC), Polytechnic University of Catalonia (UPC), Llorens i Artigas 4–6, 08028 Barcelona, Spain

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).