Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle

Maziar Izadi; Amit K. Sanyal; Ehsan Samiei; Sasi P. Viswanathan

doi:10.1109/ACC.2015.7171856

Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle

Maziar Izadi, Amit K. Sanyal, Ehsan Samiei, Sasi P. Viswanathan

Research output: Chapter in Book/Entry/Poem › Conference contribution

10 Scopus citations

Abstract

Discrete-time estimation of rigid body attitude and angular velocity without any knowledge of the attitude dynamics model, is treated using the discrete Lagrange-d'Alembert principle. Using body-fixed sensor measurements of direction vectors and angular velocity, a Lagrangian is obtained as the difference between a kinetic energy-like term that is quadratic in the angular velocity estimation error and an artificial potential obtained from Wahba's function. An additional dissipation term that depends on the angular velocity estimation error is introduced, and the discrete Lagrange-d'Alembert principle is applied to the Lagrangian with this dissipation. An explicit first order and a symmetric second-order version of this discrete-time filtering scheme are also presented, with a discussion of their advantages. A numerical simulation comparing the performances of the second-order estimator and the first-order estimator is carried out.

Original language	English (US)
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3392-3397
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7171856
State	Published - Jul 28 2015
Externally published	Yes
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Other

Other	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	7/1/15 → 7/3/15

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2015.7171856

Cite this

Izadi, M., Sanyal, A. K., Samiei, E., & Viswanathan, S. P. (2015). Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle. In ACC 2015 - 2015 American Control Conference (pp. 3392-3397). Article 7171856 (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7171856

Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle. / Izadi, Maziar; Sanyal, Amit K.; Samiei, Ehsan et al.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3392-3397 7171856 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Entry/Poem › Conference contribution

Izadi, M, Sanyal, AK, Samiei, E & Viswanathan, SP 2015, Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle. in ACC 2015 - 2015 American Control Conference., 7171856, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 3392-3397, 2015 American Control Conference, ACC 2015, Chicago, United States, 7/1/15. https://doi.org/10.1109/ACC.2015.7171856

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Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle

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