Stochastic contraction-based observer and controller design algorithm with application to a flight vehicle

摘要

This paper focuses on a stochastic version of contraction theory to construct observer-controller structure for a flight dynamic system with noisy velocity measurement. A nonlinear stochastic observer is designed to estimate the pitch rate, the pitch angle, and the velocity of an aircraft example model using stochastic contraction theory. Estimated states are used to compute feedback control for solving a tracking problem. The structure and gain selection of the observer is carried out using Ito's stochastic differential equations and the contraction theory. The contraction property of integrated observer-controller structure is derived to ensure the exponential convergence of the trajectories of closed-loop nonlinear system. The upper bound of the state estimation error is explicitly derived and the efficacy of the proposed observer-controller structure has been shown through the numerical simulations.