NDLI: Discrete-Time Observer Design for a Class of Nonlinear Systems Including Newtonian Mechanical models: Application to an Autonomous Four Rotors Helicopter

Content Provider	IEEE Xplore Digital Library
Author	Guisser, M. Medromi, H. Ifassiounen, H. Saadi, J. Radhy, N.
Copyright Year	2006
Description	Author affiliation: Equipe Archit. des Syst., Universite Hassan II Ain Chock (Guisser, M.; Medromi, H.; Ifassiounen, H.; Saadi, J.)
Abstract	In This paper we consider the state estimation problem for a class of Euler discretized nonlinear systems generalizing the Newtonian mechanical systems with position measurements. The proposed observer (software sensor) is based on the pole placement technique used for linear systems, which the gain matrix of the observer is a time varying. Finally we apply the observer design to a four rotors helicopter to estimate the linear and angular velocities and we present simulation results to demonstrate the convergence of the state estimates to their true values and to illustrate the performance and robustness of the proposed estimator when the measured positions are noisy
Starting Page	7
Ending Page	12
File Size	197401
Page Count	6
File Format	PDF
ISBN	1424403901
ISSN	1553572X
DOI	10.1109/IECON.2006.347393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-11-06
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear systems Helicopters Observers State estimation Position measurement Application software Mechanical systems Mechanical sensors Sensor systems State feedback
Content Type	Text
Resource Type	Article

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