Angular Velocity Nonlinear Observer From Single Vector Measurements

DOI10.1109/TAC.2015.2501358MaRDI QIDQ2980392zbMATH OpenFDO

Authors Lionel Magnis, Nicolas Petit

Publication date 3 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1503.03062

Mathematics Subject Classification ID

Observability (93B07) Kinematics of a rigid body (70B10)

Abstract: The paper proposes a technique to estimate the angular velocity of a rigid body from single 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 a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.

Cited in

(5)

• Event-triggered attitude synchronization of multiple rigid body systems with velocity-free measurements
• Dynamic characteristics of a beam angular-rate sensor
• Angular velocity observer design using vector measurements with application to attitude tracking
• Angular and linear velocity observer design using vector and landmark measurements
• scientific article; zbMATH DE number 7504404 (Why is no real title available?)

This page was built for publication: Angular Velocity Nonlinear Observer From Single Vector Measurements

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2980392)