Work

Saturated High-Gain Observer for Quadrotor Trajectory Tracking Under Sampled Outputs

Year: 2026

Type: article

Abstract: This paper proposes a saturated high-gain observer for a class of state-affine nonlinear systems with coupled structures under sampled-output measurements. The study is motivated by state estimation for quadrotor trajectory tracking, where output measurements are available only at large sampling intervals and are corrupted by noise. Although continuous-discrete high-gain observers are effective for reconstructing unmeasured states, large correction gains may induce the peaking phenomenon during transient stages, producing aggressive estimated signals that can affect the closed-loop response. To address this issue, the proposed observer introduces saturated correction terms that explicitly bound the transient injection signals while preserving the convergence properties of the high-gain framework. This strategy enables aggressive observer gain selection to accelerate convergence dynamics while completely suppressing transient peaking in the estimated states. The proposed observer is applied to a quadrotor trajectory-tracking problem, and numerical simulations are conducted under large sampling periods and measurement noise.

Source: Mathematics

DOI: 10.3390/math14203800

Author: Omar Hernández-González

Institutions: Tecnológico Nacional de México, Instituto Tecnológico de Hermosillo

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Tecnológico Nacional de México