Angular Velocity Observer for Attitude Tracking on SO(3) with the Separation Property

被引:7
|
作者
Wu, Tse-Huai [1 ]
Lee, Taeyoung [1 ]
机构
[1] George Washington Univ, Dept Mech & Aerosp Engn, Washington, DC 20052 USA
基金
美国国家科学基金会;
关键词
Angular velocity observer; attitude control; asymptotic stability; special orthogonal group;
D O I
10.1007/s12555-015-0163-3
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is guaranteed to converge to the true angular velocity asymptotically from almost all initial estimates. As it is developed directly on the special orthogonal group, which completely avoids singularities, complexities, or discontinuities caused by minimal attitude representations or quatemions. Then, the presented observer is integrated with a proportional-derivative attitude tracking controller to show a separation type property, where exponential stability is guaranteed for the combined observer and attitude control system.
引用
收藏
页码:1289 / 1298
页数:10
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