Predictive Descriptor Observer Design for a Class of LTI Systems with Applications to Quadrotor Trajectory Tracking
Chunyan Wang, Wei Dong, Jianan Wang, Zhengtao Ding · Research Explorer (The University of Manchester) · 2020
This paper deals with sensor fault tolerant control design and large delay compensation for a class of linear time-invariant (LTI) systems. Based on predictor-based state transformation and predictive descriptor observer design, both of state and output feedback control laws are constructed. Within the framework of Lyapunov-Krasovskii functionals, a set of stability conditions are identified. The closed-loop systems is globally asymptotically stable at the origin under the state feedback and is ultimately bounded under the output feedback. Finally, the proposed design is validated through numerical simulations and then implemented on a quadrotor trajectory tracking test. Both simulation and experimental results demonstrate the effectiveness of the proposed design.