Continuous globally exponential rigid-body angular velocity estimation\n from attitude measurements

2016/11/16 by Ioannis Sarras, Sarras, Ioannis
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #FOS: Mathematics #Inertial Sensor and Navigation #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.1611.05430

openalex publication_date 2016/11/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

A continuous solution is proposed to the problem of uniform global\nexponential estimation of the angular velocity for rigid bodies by means of\ndirect attitude measurements. The proposed observer is designed on\n\ℝ³\×\ℝ³\×\ℝ³, and not on the inherent\ngeometry mathttSO(3)\×\ℝ³, which allows for a simple\nstructure of the observer, being a copy of the system plus some correction\nterms, and a straightforward classical Lyapunov stability proof. The\nperformances of the observer are illustrated by means of a simple simulation\nscenario.\n

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