On the observability of different output configurations for quadrotor UAVs

https://doi.org/10.58571/CNCA.AMCA.2025.041

Resumen: An observability analysis of a dynamical model of a quadrotor UAV is presented for four different sensor configurations of interest. The dynamic model is obtained by employing the Euler{Lagrange formulation. Then the observability analysis is carried out by employing nonlinear geometrical tools. The results obtained show some non intuitive results such as nonuniformly observability for some cases. A simulation study is also presented to validate the analysis.

¿Cómo citar?

Gutierrez-Giles, A., Zhao, S. & de la Guerra, A. (2025). On the observability of different output configurations for quadrotor UAVs. Memorias del Congreso Nacional de Control Automático 2025, pp. 238-243. https://doi.org/10.58571/CNCA.AMCA.2025.041

Palabras clave

Observers, fault detection, unmanned autonomous vehicles.

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