This paper proposes a novel Gap Reduced Minimum Error Robust Simultaneous (GRMERS) estimator for resource-constrained Nano Aerial Vehicle (NAV) that enables a single estimator to provide simultaneous and robust estimation for a given N unstable and uncertain NAV plant models. The estimated full state feedback enables a stable flight for NAV. The GRMERS estimator is implemented utilizing a Minimum Error Robust Simultaneous (MERS) estimator and Gap Reducing (GR) compensators. The MERS estimator provides robust simultaneous estimation with minimal largest worst-case estimation error even in the presence of a bounded energy exogenous disturbance signal. The GR compensators reduce the gap between the graphs of N linear plant models to decrease the estimation error generated by the MERS estimator. A sufficient condition for the existence of a simultaneous estimator is established using LMIs and robust estimation theory. Further, MERS estimator and GR compensator design are formulated as non-convex tractable optimization problems and are solved using the population-based genetic algorithms. The performance of the GRMERS estimator consisting of MERS estimator and GR compensators from the population-based genetic algorithms is validated through simulation studies. The study results indicate that a single GRMERS estimator can produce state estimates with reduced errors for all flight conditions. The results indicate that the single GRMERS estimator is robust than the individually designed H inifinity filters.
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