Discrete-time stabilization of a remotely controlled flying robot in real-time without velocities measurement

A low cost strategy for indoor real-time stabilization of a remotely controlled flying robot is proposed. The strategy is based on a discrete-time Luenberger observer combined with a low cost and fast positioning system. The positioning system delivers the coordinates, roll and pitch angles of robot. The discrete-time Luenberger observer is used to estimate all the velocities. A local stabilizer is designed as if all states were measurable. It is shown that the observer and the stabilizer satisfy a kind of separation principle, in the sense that local stability of the closed loop system is preserved when the actual states are replaced by their estimates. Real-time experiments show the performance of the proposed scheme.