LMI based H∞ Observer Design for a Quadcopter Model Operating in an Adaptive Vertical Farm

The adaptive vertical farm is an innovative solution to increase production yield through adaptive management of available volume. The latest technological advances in data processing and actuators have made UAVs useful in precision agriculture because of their ability to monitor small areas. This paper proposes a H∞ observer design via Linear Matrix Inequalities (LMI) aiming to provide accurate state estimation of an indoor quadrotor operating in an adaptive vertical farm. A new less conservative LMI condition is applied to solve the H∞ circle criterion design. A simulation is given to illustrate the validity and effectiveness of the proposed observer.