Nonlinear Double-Integral Observer and Application to Quadrotor Aircraft

This paper presents a nonlinear double-integral observer based on finite-time stability. The proposed double-integral observer can estimate the onefold and double integrals of a signal synchronously, and the stability in time domain is analyzed. The merits of the presented double-integral observer include its finite-time stability, ease of parameter selection, sufficient stochastic noise rejection, and almost no drift phenomenon. The theoretical results are confirmed by the simulations and an experiment on a quadrotor aircraft: (1) the estimation of position and velocity from the acceleration measurement and (2) a control law is designed based on the double-integral observer to track a reference trajectory.