Filtered High-Gain Observer Design For a Class of Nonlinear Systems subject to Delayed Measurements: Application to a Quadrotor UAV

In this paper, a novel structure of a Filtered high-gain Observer is proposed for a class of nonlinear systems subject to delayed measurements, bounded disturbances and noise measurements effects. The structure of the proposed observer is able to obtain a larger bound of the Maximum Allowable Value of Time Delay (MAVTD) that ensures the convergence of the observer in comparison with the one obtained by standard High Gain methodology. The convergence of the proposed observer is provided by means of Lyapunov-Krasovskii functional. The efficiency of the proposed observer has been validated experimentally on real UAV systems.