Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866911749168431104 |
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| author | Wang, Miaomiao Tayebi, Abdelhamid |
| author_facet | Wang, Miaomiao Tayebi, Abdelhamid |
| contents | This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid attitude observers on Lie group $SO(3)$ are proposed. First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2210_11510 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements Wang, Miaomiao Tayebi, Abdelhamid Systems and Control This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid attitude observers on Lie group $SO(3)$ are proposed. First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers. |
| title | Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2210.11510 |