Nonlinear Double-Integral Observer and Application to Quadrotor Aircraft

This paper presents a nonlinear double-integral observer based on finite-time stability. The proposed double-integral observer can estimate the onefold and double integrals of a signal synchronously, and the stability in time domain is analyzed. The merits of the presented double-integral observer i...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 62; no. 2; pp. 1189 - 1200
Main Authors Xinhua Wang, Shirinzadeh, Bijan, Ang, Marcelo H.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2015
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Acceleration
Aircraft
Attitude control
Drift
Estimates
Noise
Nonlinearity
Observers
Position measurement
Rejection
Rotorcraft
Sensors
Stability
Trajectories
Trajectory
quadrotor aircraft
Double-integral observer
drift phenomenon
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Summary:This paper presents a nonlinear double-integral observer based on finite-time stability. The proposed double-integral observer can estimate the onefold and double integrals of a signal synchronously, and the stability in time domain is analyzed. The merits of the presented double-integral observer include its finite-time stability, ease of parameter selection, sufficient stochastic noise rejection, and almost no drift phenomenon. The theoretical results are confirmed by the simulations and an experiment on a quadrotor aircraft: (1) the estimation of position and velocity from the acceleration measurement and (2) a control law is designed based on the double-integral observer to track a reference trajectory.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2014.2341571