LPV Unknown Input Observer for Attitude of a mass-varying quadcopter

Hung Pham (1) , Dalil Ichalal (2) , Saïd Mammar (2)

1 Le Quy Don Technical University
2 IBISC - Informatique, BioInformatique, Systèmes Complexes

In this paper, a Linear Parameter Varying (LPV) Unknown Input Observer (UIO) design for the attitude subsystem of a mass-varying quadcopter is proposed by using algebraic matrix manipulation. First, the design of UIO for LPV systems is discussed. Then, by applying the design process of UIO for the general LPV system, an LPV UIO is designed for the attitude of a mass-varying quadcopter. Simulation results in Matlab are conducted for illustrating the promising results of the paper.

Domaines: Automatique / Robotique

Hung Pham, Dalil Ichalal, Saïd Mammar. LPV Unknown Input Observer for Attitude of a mass-varying quadcopter. 16th International Conference on Control, Automation, Robotics and Vision (ICARCV 2020), Dec 2020, Shenzhen (virtual), China. pp.917--924, ⟨10.1109/ICARCV50220.2020.9305468⟩. ⟨hal-03133881⟩