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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 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 languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3392-3397
Number of pages6
Volume2015-July
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Izadi, M., Sanyal, A., 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 (Vol. 2015-July, pp. 3392-3397). [7171856] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7171856