2004/02/27 by Yong Zhao, Jean-Jacques Slotine, Zhao, Yong +2
Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Optimization and Control (math.OC) #math.OC
paper · pdf · doi:10.48550/arxiv.math/0403001
arxiv created 2004/02/27 · openalex publication_date 2004/02/27 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis tool, and the hierarchical structure of the system physics is sytematically exploited. The paper also discusses the use of nonlinear measurements, such as distances to time-varying reference points.