Robust cascade observer for a disturbance unmanned aerial vehicle carrying a load under multiple time-varying delays and uncertainties

O. Hernández-González, B. Targui, G. Valencia-Palomo and M.E. Guerrero-Sánchez

International Journal of Systems Science, 2024, vol. 55, issue 5, 1056-1072

Abstract: In this article, a novel approach of a robust flight observer for a disturbance quadrotor transporting a payload in the presence of multiple time-varying delays is proposed. The developed algorithm is not only pertinent to a vehicle output signal with multiple small time-varying delays but also to long time-varying delays that are common for a quadrotor transporting a hanging load because a cascade structure is also employed to achieve outstanding performance, and the delay can be removed. The multiple time-varying delays and disturbances are compensated in the system with the proposed observer. The stability of the proposed methodology is proved using the Lyapunov–Krasovskii functional associated with an $ \mathcal {H}_\infty $ H∞ criterion. Numerical simulations are shown to assess and validate the observer's performance and robustness under multiple time-varying delays and disturbances.

Date: 2024
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DOI: 10.1080/00207721.2023.2301496

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