On the Design of Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observers

2016/05/18 by Soulaimane Berkane, Berkane, Soulaimane, Abdelkader Abdessameud +3
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #FOS: Mathematics #Inertial Sensor and Navigation #Optimization and Control (math.OC) #Target Tracking and Data Fusion in Sensor Networks

paper · pdf · doi:10.48550/arxiv.1605.05640

openalex publication_date 2016/05/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between different configurations derived from a set of potential functions on SO(3). Different sets of potential functions have been designed via an appropriate angular warping transformation applied to some smooth and non-smooth potential functions on SO(3). We show that the proposed hybrid observers can be expressed solely in terms of inertial vector measurements and biased angular velocity readings. Simulation results are given to illustrate the effectiveness of the proposed attitude estimation approach.

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