A Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observer
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Publication:6272014
arXiv1603.09223MaRDI QIDQ6272014FDOQ6272014
Authors: Soulaimane Berkane, Abdelkader Abdessameud, A. Tayebi 
Publication date: 30 March 2016
Abstract: This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global exponential stability using biased angular velocity and inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed observer.
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