Functional Observer; Unknown Inputs; Polytopic approach; Nonlinear continuous time systems
Abstract :
[en] In this paper, a constructive procedure to design functional unknown input observer for nonlinear continuous time systems under the Polytopic Takagi-Sugeno framework (also
known as multiple models systems) is proposed. Applying the Lyapunov theory, Linear Matrix
Inequalities (LMI)s conditions are deduced which are solved for feasibility to obtain observer
design matrices. To reject the effect of unknown input, classical approach of decoupling the
unknown input for the linear case is used. A comparative study between single and Polytopic
Lyapunov function is made in order to prove the relaxation effect of the Multiple functions. A
solver based solution is then proposed.
It will be shown through applicative example (a Quadrotor Aerial Robots Landing) that even
if the proposed LMIs solver based solution may look conservative, an adequate choice of the
solver makes it suitable for the application of the proposed approach.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Bezzaoucha, Souad ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Darouach, Mohamed; Université de Lorraine > Pr
External co-authors :
yes
Language :
English
Title :
On the Unknown Input Functional Observer Design via Polytopic Lyapunov Function: Application to a Quadrotor Aerial Robots Landing
Publication date :
July 2017
Event name :
20th World Congress of the International Federation of Automatic Control (Ifac WC)
