Observer Design for a Class of Uncertain Nonlinear Systems With Sampled-Delayed Output Using High-Gain Observer and Low-Pass Filter: Application for a Quadrotor UAV

Abstract

In this paper, a novel structure of a Filtered High-Gain Observer (FHGO) is proposed for a class of nonlinear systems subject to sampled and delayed measurements, bounded disturbances and noise measurements effects. Using an LMI design approach, the novel structure of the continuous-discrete FHGO allows a larger bound of the Maximum Allowable Value of Time Delay (MAVTD). To prove the effectiveness of the proposed observer, a comparison with Kalman-like observer and standard high gain observer is provided and the corresponding experimental results are presented for a quadrotor UAV.