Abstract
AbstractThis article addresses the design of angular velocity observer for rigid bodies using vector measurements directly. The main contributions of our observer compared with the classical estimation algorithms lie in that it does not need to reconstruct the attitude information from the measurements nor be implemented with velocity sensors. Meanwhile, it provides three‐degrees‐of‐freedom (3DOF) full state estimates. To avoid the unstable critical points for the attitude estimation errors on SO(3), the synergistic potential functions based hybrid method is adopted. Afterwards, an output feedback attitude tracking controller with a proportional‐derivative (PD) plus feedforward form is built based on the estimates from the observer, which can also be implemented using vector measurements directly. Rigorous analysis of the stability of the observer and the combined observer‐controller are presented in detail, with a separation property shown between the observer and the controller. Simulations are conducted to illustrate the effectiveness of the proposed observer and the combined attitude tracking law.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Robust and Nonlinear Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
