Global Exponential Angular Velocity Observer for Rigid Body Systems

2016/03/30 by Berkane, Soulaimane, Abdessameud, Abdelkader, Tayebi, Abdelhamid
#FOS: Mathematics #Optimization and Control (math.OC)

paper · doi:10.48550/arxiv.1603.09234

Abstract

We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on SO(3)×ℝ³. The global exponential stability result makes this observer a good candidate for a controller-observer combination with a guaranteed separation property. Simulation results are provided to demonstrate the effectiveness of the proposed hybrid observer as a part of an attitude stabilization scheme.

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