Application of Takagi-Sugeno observers for state estimation in a quadrotor

Author

Lendek, Zsófia ; Berna, Andreu ; Guzmán-Giménez, José ; Sala, Antonio ; García, Pedro

Author_Institution

Delft Center for Syst. & Control, Delft Univ. of Technol., Delft, Netherlands

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

7530

Lastpage

7535

Abstract

In this paper, the validity of Takagi-Sugeno observers to estimate the angular positions and speeds in the experimental platform of a quadrotor will be assessed. Takagi-Sugeno observers are compared to observers based on the linearized model designed with the same optimization criteria and design parameters. Experimental results confirm that Takagi-Sugeno models and observers behave similarly to linear ones around the linearization point, and have a better performance over a larger operating range.

Keywords

aerospace control; fuzzy systems; helicopters; linearisation techniques; observers; optimisation; Takagi-Sugeno models; Takagi-Sugeno observers; angular position estimation; angular speed estimation; design parameters; linearization point; linearized model; optimization criteria; quadrotor; state estimation; Estimation error; Linear matrix inequalities; Mathematical model; Observers; Propellers; Takagi-Sugeno model; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160439

Filename

6160439