Abstract
In this work, we are interested in the state estimation of multivariable nonlinear discrete-time systems. The latter are obtained from the Leap-Frog discretization technique that may be applied to a large class of systems composed of nonlinear differential equations. This type of discretization induces a delay in the state space representation. Therefore, a specific state space estimator without change of coordinates was established with convergence under weak conditions. In the second part of this work, we are interested in the estimation of the position, orientation, and speed of an Unmanned Aerial Vehicles (UAV) equipped with few sensors. From the observability condition, to assure convergence of the proposed state estimator, we show which physical variable should be measured.
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Boutayeb, M., Bouaouda, A. (2022). On the State Estimation of Non-linear Discrete-Time Models: Application to Unmanned Aerial Vehicles. In: Smirnov, N., Golovkina, A. (eds) Stability and Control Processes. SCP 2020. Lecture Notes in Control and Information Sciences - Proceedings. Springer, Cham. https://doi.org/10.1007/978-3-030-87966-2_33
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DOI: https://doi.org/10.1007/978-3-030-87966-2_33
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