In this paper, a nonlinear robust multiple integrator algorithm is presented based on finite-time stability. The nonlinear integrator can obtain the multiple integrals of signal. Conditions are given ensuring finite-time stability for the presented integrator. The stability and robustness are analysed. The merits of the presented integrator include its multiple-integral estimation, finite-time stability, selecting parameters easily, restraining stochastic noise sufficiently, and almost no drift phenomenon. The theoretical results are confirmed by computer simulations and two aircraft navigation experiments on a quadrotor aircraft: 1) the estimation of flying trajectory and velocity from the measurements of accelerations; 2) the estimation of attitude angle and angular rate from the measurements of angular accelerations.


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    Title :

    Nonlinear Multiple Integrator and Application to Aircraft Navigation


    Contributors:


    Publication date :

    2014-01-01


    Size :

    3681911 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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