Application of Takagi-Sugeno observers for state estimation in a quadrotor

Lendek, Zsófia; Berna, Andreu; Guzmán-Giménez, José; Sala, Antonio; Garcia, Pedro Castillo

doi:10.1109/cdc.2011.6160439

Cited by 21 publications

(26 citation statements)

References 21 publications

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“…Then, if an analogue development to Theorem 6.2 is carried out for TS models (adding, however, the Lipschitz-bound construction), the SOS results, as a particular case, get converted to the classical LMIs (basically, similar to the ones reported in Lendek, Berna, Guzmán-Giménez, Sala and García (2011);Lendek, Guerra, Babuška and De Schutter (2010)) given in the following corollary (details omitted for brevity):…”

Section: Observer Designmentioning

confidence: 99%

“…The design of state observers for nonlinear systems using TS (or quasi-LPV) models has been actively considered recently in practical control applications (Lendek, Berna, Guzmán-Giménez, Sala and García, 2011;Lendek, Guerra, Babuška and De Schutter, 2010;Bouarar, Guelton and Manamanni, 2013). The proposed polynomial tools are a generalization of them (quasi-LPV are a particular case of fuzzy polynomial), allowing to obtain better results due to the lower mismodelling possible with polynomial equations.…”

Section: Albert Einsteinmentioning

confidence: 99%

“…If not, the use of fuzzy gains is useless because of the double summation µ i (x)µ j (x), for which any L j must hold for all i vertex models. In this case, the choices to proceed with the design can be either a single observer gain L(y,x) or bounding the unknown term (6.14) locally in Ω, in a similar way to what is done in Ichalal, Marx, Ragot and Maquin (2010); Lendek, Berna, Guzmán-Giménez, Sala and García (2011).…”

Section: Observer Design Under Vanishing Disturbancesmentioning

confidence: 99%

“…This did not occur in the polynomial case, and it will lead to an important performance decrease as discussed in the experimental results (Section 8.4) and will require theoretical refinements, addressed next. With the TS model (8.8), the observer error dynamics is given by 8.11) and the observer-model mismatch must fulfill a Lipschitz-like bound (8.12) in order to proceed further and set up LMI's (Lendek, Berna, Guzmán-Giménez, Sala and García, 2011;Lendek, Guerra, Babuška and De Schutter, 2010). The bound σ depends on the shape of the memberships (actually, bounds in ∂µ ∂x ), the model A i and the modelling region Ω x .…”

Section: Observer Designmentioning

confidence: 99%

“…Details on the model and procedure can be consulted in Lendek, Berna, Guzmán-Giménez, Sala and García (2011).…”

Section: Fuzzy Modellingmentioning

confidence: 99%

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Contributions to fuzzy polynomial techniques for stability analysis and control

Pérez¹,

Luis²

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Support from the French Laboratory LAMIH UMR CNRS8530 from the Université de Valenciennes et du Hainaut-Cambrésis is also acknowledged, both for accepting the author in its facilities as pre-doctoral stay and for its valuable collaboration sharing knowledge and data for the experimental applications presented on this thesis.The author thanks also the Control of Complex Systems Group from the Universitat Politècnica de València for the use of the group's infrastructure, in particular computational resources (Carraixet server).To all the people who decided getting out of my life by their own decision, because their absence provided me with more time for working and, of course, to you, expensive reader. AgradecimientosHan sido cuatro duros, pero a la vez amenos, años de trabajo para dar su fruto en esta tesis doctoral. Por lo tanto, hay muchas personas que, en mayor o menor medida, han contribuido de alguna forma a que este trabajo se haya llevado a buen puerto y voy a tener que rogar me disculpen por no haber sido capaz de acordarme de todos/as en estas lineas. En primer lugar, como no podría ser de otra forma, quiero agradecer a mi director de tesis, Antonio Sala, por todo lo que se le presupone a un director (transferencia de conocimiento en la materia, disponibilidad, supervisión del trabajo, trazado de guias principales, etc) y sobre todo por lo que no se le presupone: humildad, cercanía, paciencia infinita, sinceridad y consejos, incluso sobre aspectos de la vida que están fuera del ambito exclusivo del doctorado. Por ser verdaderamente un profesor para mi, gracias Antonio.Asimismo, quiero agradecer profundamente a Carlos Ariño por estar siempre disponible para explicarme cosas, aportar ideas y revisar mi trabajo, cuando oficialmente no tenía ninguna obligación para ello.Tampoco sería justo que en estas lineas me olvidara de Nacho Peñarrocha, mi director de proyecto final de carrera, a quien no pude agradecer en su momento por reglas de formato en el manuscrito. Probablemente, si Nacho no hubiera impartido las prácticas de Sistemas Automáticos en 2006, no me hubiera dirigido el PFC, o no me hubiera animado a solicitar la beca FPI, no estaría escribiendo estas lineas en mi tesis ahora.Espero, en algún momento y de alguna manera, ser capaz de devolveros a los tres todo el esfuerzo y dedicación que empleasteis en mi formación como investigador, como ingeniero y como persona.En segundo lugar, estoy especialmente agradecido a Thierry-Marie Guerra por haberme permitido trabajar tres meses en las instalaciones del LAMIH y tratarme como un investigador invitado en lugar de como un estudiante predoctoral. De la misma forma, quiero agradecer a Jimmy Lauber por aceptar ix x AGRADECIMIENTOS supervisar mi trabajo, colaborar conmigo y, para ello, sacar tiempo de donde no tenía.En tercer lugar, quiero agradecer de forma especial a Alejandro Vignoni, quien ha sido compañero de fatigas durante estos ultimos tres años y a quien le debo el aprender a moverme por el mundo, perdiendo el miedo a vivir fuera de mi termo particular....

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Section: Observer Designmentioning

confidence: 99%

Section: Albert Einsteinmentioning

confidence: 99%

Section: Observer Design Under Vanishing Disturbancesmentioning

confidence: 99%

Section: Observer Designmentioning

confidence: 99%

“…Details on the model and procedure can be consulted in Lendek, Berna, Guzmán-Giménez, Sala and García (2011).…”

Section: Fuzzy Modellingmentioning

confidence: 99%

See 3 more Smart Citations

Contributions to fuzzy polynomial techniques for stability analysis and control

Pérez¹,

Luis²

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show abstract

LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

López‐Estrada¹,

Ponsart²,

Theilliol³

et al. 2015

J Intell Robot Syst

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Multicriteria fuzzy-polynomial observer design for a 3DoF nonlinear electromechanical platform

Pitarch

Sala

2014

Engineering Applications of Artificial Intelligence

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This paper proposes local fuzzy-polynomial observer discrete-time designs for state estimation of a nonlinear 3 DoF electromechanical platform (fixed quadrotor). A trade-off between H ∞ norm bounds and speed of convergence performance is taken into account in the design process. Actual experimental data are used to compare performance of the fuzzy polynomial design with classical ones based on the Takagi-Sugeno and linearized models, both using the same optimization criteria and design parameters.

show abstract

Application of Takagi-Sugeno observers for state estimation in a quadrotor

Cited by 21 publications

References 21 publications

Contributions to fuzzy polynomial techniques for stability analysis and control

Contributions to fuzzy polynomial techniques for stability analysis and control

LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

Multicriteria fuzzy-polynomial observer design for a 3DoF nonlinear electromechanical platform

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