Continuous–Discrete Time High Gain Observer Design for State and Unknown Inputs Estimations Of Quadrotor UAV

In this paper a Novel continuous-discrete (Sampled data) time High Gain Observer (NSHGO) for state and unknown-input estimation of a quadrotor is proposed. The proposed observer aims to provide states/unknown input estimation of the quadrator UAVs in the case of lacking of state measurement which is characterized by losing sensor signals between two sampling times. To achieve this task, a new structure of a continuous-discrete time observer, which combines the advantages of high gain observer with the LMI-based observer technique, is proposed. Using the extended state methodology and based on the proposed observer, an unknown input estimator is derived. To overcome the problem of discrete time measurements, a new structure of the output predictor with a correction term is introduced in the structure of the HGO. The performance of the proposed observer is illustrated through a simulation and experimental results.