A Finite-Time Stable Observer for Relative Attitude Estimation

Ningshan Wang, Reza Hamrah, Amit K. Sanyal

Research output: Chapter in Book/Entry/PoemConference contribution

1 Scopus citations


Relative motion estimation of one rigid body with respect to another is a problem that has immediate applications to formations and maneuvers involving multiple unmanned vehicles or collision avoidance between vehicles. A finite-time stable observer for relative attitude estimation of a rigid object using onboard sensors on an unmanned vehicle, is developed and presented here. This observer assumes sensor inputs from onboard vision and inertial sensors, with the vision sensors measuring at least three points on the object whose relative locations with respect to a body-fixed frame on the object are also assumed to be known. In the absence of any measurement noise, the estimated relative attitude is shown to converge to the actual relative pose in a finite-time stable manner. Numerical simulations indicate that this relative attitude observer is robust to persistent measurement errors and converges to a bounded neighborhood of the true attitude.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728113982
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference58th IEEE Conference on Decision and Control, CDC 2019

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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