Angular velocity nonlinear observer from vector measurements

DOI10.1016/J.AUTOMATICA.2016.09.027zbMATH Open1351.93145arXiv1503.02870OpenAlexW1503948949MaRDI QIDQ2374465FDOQ2374465

Authors: Lionel Magnis, Nicolas Petit 

Publication date: 15 December 2016

Published in: Automatica (Search for Journal in Brave)

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.

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

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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)

Cites Work

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

Cited In (8)

• Exponential reduced-order observers for nonlinear systems satisfying incremental quadratic constraints
• Dynamic characteristics of a beam angular-rate sensor
• A proportional-derivative-double derivative controller for robot manipulators
• Angular and linear velocity observer design using vector and landmark measurements
• Angular velocity observer design using vector measurements with application to attitude tracking
• A new angular acceleration estimation method and its application in acceleration feedback control
• Title not available (Why is that?)
• Estimating the angular velocity of a rigid body moving in the plane from tangential and centripetal acceleration measurements

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