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A semi-global model-based state observer for the quadrotor using only inertial measurements

Authors: Philippe Martin , Ioannis Sarras, 2016 IEEE 55th Conference on Decision and Control (CDC 2016), pp. 7123 - 7128, December 12-14, 2016, Las Vegas
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 incorporating the nonlinear constraint into the correction terms.
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BibTeX
@Proceedings{2017-03-10,
author = {Philippe Martin, Ioannis Sarras},
editor = {},
title = {A semi-global model-based state observer for the quadrotor using only inertial measurements},
booktitle = {2016 IEEE 55th Conference on Decision and Control (CDC 2016)},
volume = {},
publisher = {},
address = {Las Vegas},
pages = {7123 - 7128},
year = {2016},
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 i corporating the nonlinear constraint into the correction terms.},
keywords = {}}
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