A High-Gain Observer Design for Nonlinear System with Delayed Measurements: Application to a Quadrotor UAV

Abstract

The paper deals with the design of a high-gain observer for nonlinear system with delayed output measurements and bounded disturbances. The new structure of the proposed observer exhibits good performance in terms of allowing a higher MAVTD (Maximum Allowable Value of the Time-Delay) compared to the existing works, where the MAVTD is limited due to the high value of the high-gain parameter. Based on the LMI technique and using Lyapunov-Krasovskii function, an explicit relation between MAVTD and the LMI tuning parameters is deduced from the stability analysis of the proposed observer. The efficiency of the proposed structure is illustrated through an application to a Quadrotor UAV and a comparison with standard and cascade high-gain observers is performed.