Cheng-Yan Zhao

Contraction-Guided Learning-Based Observer for UAV State Estimation Subject to Disturbances

This paper proposes a state estimation scheme for nonlinear UAV systems subject to bounded disturbances and unknown dynamics. We introduce a Contracting Learning-Based Observer (CLBO) that integrates a contraction-guided observer with a long short-term memory (LSTM) module. Two learning strategies are developed: adapti...