Angular velocity nonlinear observer from vector measurements

DOI10.1016/J.AUTOMATICA.2016.09.027MaRDI QIDQ2374465zbMATH OpenOpenAlexFDO

Authors Lionel Magnis, Nicolas Petit

Publication date 15 December 2016

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1503.02870

zbMATH Keywords

time-varying systemsnonlinear observer and filter designguidance navigation and controlsensor and data fusion

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Observability (93B07) Linear systems in control theory (93C05) Estimation and detection in stochastic control theory (93E10)

Abstract: The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.

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Cites work

• A globally convergent angular velocity observer for rigid body motion
• Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements
• Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors
• Exponential stability of time-varying linear systems
• Inertial Vector Measurements Based Velocity-Free Attitude Stabilization
• Nonlinear Complementary Filters on the Special Orthogonal Group
• REQUEST - A recursive QUEST algorithm for sequential attitude determination
• Separation results for the stabilization of nonlinear systems using different high-gain observer designs

Cited in

(12)

• A new angular acceleration estimation method and its application in acceleration feedback control
• Attitude observer on the special orthogonal group with Earth velocity estimation
• Exponential reduced-order observers for nonlinear systems satisfying incremental quadratic constraints
• Dynamic characteristics of a beam angular-rate sensor
• Robust three-dimensional non-contacting angular motion sensor
• Stability analysis of velocity-aided attitude observers for accelerated vehicles
• Angular velocity observer design using vector measurements with application to attitude tracking
• A GES attitude observer with single vector observations
• A proportional-derivative-double derivative controller for robot manipulators
• Angular and linear velocity observer design using vector and landmark measurements
• scientific article; zbMATH DE number 7504404 (Why is no real title available?)
• Estimating the angular velocity of a rigid body moving in the plane from tangential and centripetal acceleration measurements

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