@inproceedings{2eb82ec145204893b406124706c346cc,
title = "A H{\"o}lder-continuous Extended State Observer for Rigid Body Attitude Dynamics",
abstract = "Estimating rigid body attitude dynamics in the presence of unknown or uncertain torques, has applications to unmanned aerial, ground, (under)water and space vehicles. This work provides a new approach to estimating the attitude states and unknown, time-varying, (disturbance) torque vector acting on a rigid body, using an extended state observer. The observer design uses the concept of geometric homogeneity to obtain its stability. A Lyapunov stability analysis is carried out to prove its stability properties. The resulting observer for the attitude states and disturbance torque is smooth, H{\"o}lder-continuous, and exhibits almost globally finite-time stable (AG-FTS) with a constant disturbance torque in body frame. These properties are theoretically shown, and a numerical simulation is carried out to demonstrate how the observer works in a realistic attitude estimation scenario.",
keywords = "Attitude Dynamics, Disturbance estimation, Nonlinear observers",
author = "Ningshan Wang and Sanyal, {Amit K.}",
note = "Publisher Copyright: {\textcopyright} 2023 The Authors.; 22nd IFAC Symposium on Automatic Control in Aerospace, ACA 2022 - Proceedings ; Conference date: 21-11-2022 Through 25-11-2022",
year = "2022",
month = dec,
day = "1",
doi = "10.1016/j.ifacol.2023.03.057",
language = "English (US)",
series = "IFAC-PapersOnLine",
publisher = "Elsevier",
number = "22",
pages = "340--345",
editor = "Bidyadhar Subudhi",
booktitle = "IFAC-PapersOnLine",
address = "Netherlands",
edition = "22",
}