2015/10/12 by Philippe Martin, Ioannis Sarras, Martin, Philippe +1 · 1 citation
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #FOS: Mathematics #Inertial Sensor and Navigation #Optimization and Control (math.OC) #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.1510.03249
openalex publication_date 2015/10/12 · openalex created_date 2017/01/13 · openalex updated_date 2026/07/28
We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is an alternative to recent works using a similar model together with an Extended Kalman Filter (EKF). But while enjoying the benefits of an enhanced model, it does not have the usual drawbacks of an EKF: indeed, the computational cost is much lower, the tuning is easier, and above all the guaranteed domain of convergence is very large.