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dc.contributor.authorCayero Becerra, Julián Francisco
dc.contributor.authorRotondo, Damiano
dc.contributor.authorMorcego Seix, Bernardo
dc.contributor.authorPuig Cayuela, Vicenç
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2019-06-06T09:36:40Z
dc.date.available2019-06-06T09:36:40Z
dc.date.issued2019-03-01
dc.identifier.citationCayero, J. [et al.]. Optimal state observation using quadratic boundedness: application to UAV disturbance estimation. "International journal of applied mathematics and computer science", 1 Març 2019, vol. 29, núm. 1, p. 99-109.
dc.identifier.issn1641-876X
dc.identifier.urihttp://hdl.handle.net/2117/134073
dc.description.abstractThis paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error bounding ellipsoid are identified as the parameters that define the behaviour of the estimation. Then, it is shown that these objectives can be merged in a scalarised objective function with one design parameter, making the design problem convex. In the second part of the article, a UAV model is presented which can be made linear by considering a particular state and frame of reference. The UAV model is extended to incorporate a disturbance model of variable size. The joint model matches the structure required to derive an observer, following the lines of the proposed design approach. An observer for disturbances acting on the UAV is derived and the analysis of the performances with respect to the design parameters is presented. The effectiveness and main characteristics of the proposed approach are shown using simulation results.
dc.format.extent11 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshDrone aircraft
dc.subject.lcshAutomatic control
dc.subject.otherdisturbance estimation
dc.subject.otherunmanned aerial vehicles (UAVs)
dc.subject.otheroptimal estimation and filtering
dc.subject.othersystem modelling
dc.titleOptimal state observation using quadratic boundedness: application to UAV disturbance estimation
dc.typeArticle
dc.subject.lemacAvions no tripulats
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.identifier.doi10.2478/amcs-2019-0008
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://content.sciendo.com/view/journals/amcs/29/1/article-p99.xml
dc.rights.accessOpen Access
local.identifier.drac24022330
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/2PE/DPI201676493
dc.relation.projectidinfo:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-88403-R/ES/SEGURIDAD Y CONTROL EN VEHICULOS AUTONOMOS/
dc.relation.projectidinfo:eu-repo/grantAgreement/AGAUR/2016FIB100024
local.citation.authorCayero, J.; Rotondo, D.; Morcego, B.; Puig, V.
local.citation.publicationNameInternational journal of applied mathematics and computer science
local.citation.volume29
local.citation.number1
local.citation.startingPage99
local.citation.endingPage109


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