Time-varying observers for launched Unmanned Aerial Vehicle

Arnaud Koehl (1) , Hugues Rafaralahy (1) , Mohamed Boutayeb (1) , Bastien Martinez (2)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 ISL - Institut franco-allemand de recherches de Saint-Louis

In this contribution we investigate the problem of linear velocity estimation of a Gun Launched Micro Air Vehicle (GLMAV), which is a new Micro Air Vehicle (MAV) concept, intended for outdoor flight, and using two-bladed coaxial contra-rotating rotors. The linear velocity estimation is realized using a simple time-varying Luenberger-like observer, and only using partial measurmements of an Inertial Management Unit (IMU). Simple conditions of the observation-error-asymptotic-stability are given in terms of physical variables of the GLMAV. The reduced-order observer stability analysis is realized through the Lyapunov approach and the Barbalat's lemma. Simulations results show the effectiveness of the estimation technique applied to the presented GLMAV model, identified from experimental results

Mots clés: Speed estimation; Unmanned Aerial Vehicle; time-varying observer; state estimation; stability analysis; aerospace engineering; identification algorithms; Kalman filters

Domaines: Automatique / Robotique

Arnaud Koehl, Hugues Rafaralahy, Mohamed Boutayeb, Bastien Martinez. Time-varying observers for launched Unmanned Aerial Vehicle. 18th IFAC World Congress, IFAC WC'2011, Aug 2011, Milan, Italy. pp.CD ROM. ⟨hal-00584425⟩