Multicriteria fuzzy-polynomial observer design for a 3DoF nonlinear electromechanical platform

This paper proposes local fuzzy-polynomial observer discrete-time designs for state estimation of a nonlinear 3DoF electromechanical platform (fixed quadrotor). A trade-off between H∞H∞ norm bounds and speed of convergence performance is taken into account in the design process. Actual experimental data are used to compare performance of the fuzzy polynomial design with classical ones based on the Takagi–Sugeno and linearized models, both using the same optimization criteria and design parameters.