The problem of linear velocity estimation of a GLMAV (Gun Launched Micro Air Vehicle) is investigated, which is a new MAV (Micro Air Vehicle) concept, intended for outdoor flight, and using two-bladed coaxial contra-rotating rotors. The linear velocity estimation is realized using a simple time-varying Luenberger-like observer, and only using partial measurmements of an IMU (Inertial Management Unit). Simple conditions of the observation-error-asymptotic-stability are given in terms of physical variables of the GLMAV. The reduced-order observer stability analysis is realized through the Lyapunov approach and the Barbalat's lemma. Simulations results show the effectiveness of the estimation technique applied to the presented GLMAV model, identified from experimental results.


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    Title :

    Time-varying observers for launched unmanned aerial vehicle


    Contributors:
    Koehl, A. (author) / Rafaralahy, H. (author) / Boutayeb, M. (author) / Martinez, B. (author)


    Publication date :

    2011


    Size :

    6 Seiten, 7 Bilder, 11 Quellen




    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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