Saturated High-Gain Observer for Quadrotor Trajectory Tracking Under Sampled Outputs
- 1Tecnológico Nacional de México, Instituto Tecnológico de Hermosillo, Av. Tecnológico 115, Hermosillo 83170, Sonora, Mexico
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.
Related
- OCP-Based Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking
- Information-Based Trajectory Planning for Spacecraft-to-Spacecraft Tracking and Navigation in Cislunar Space
- Path Invariance of a Quadrotor System under Cyber Attacks with Theoretical Guarantees
- Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs
- Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees
BibTeX
@article{hernandezgonzalez2026saturated,
title = {{Saturated High-Gain Observer for Quadrotor Trajectory Tracking Under Sampled Outputs}},
author = {Omar Hernández-González},
journal = {Mathematics},
year = {2026},
month = oct,
doi = {10.3390/math14203800},
url = {https://www.mdpi.com/2227-7390/14/20/3800},
note = {CC BY 4.0},
}
RIS
TY - JOUR
TI - Saturated High-Gain Observer for Quadrotor Trajectory Tracking Under Sampled Outputs
AU - Omar Hernández-González
PY - 2026
DA - 2026/10/20
JO - Mathematics
DO - 10.3390/math14203800
UR - https://www.mdpi.com/2227-7390/14/20/3800
AB - 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.
SN - 2227-7390
ER -