TY - GEN
T1 - Finite time stable attitude and angular velocity bias estimation for rigid bodies with unknown dynamics
AU - Sanyal, Amit K.
AU - Warier, Rakesh R.
AU - Hamrah, Reza
N1 - Publisher Copyright:
© 2019 EUCA.
PY - 2019/6
Y1 - 2019/6
N2 - This paper presents a nonlinear finite-time stable attitude estimation scheme for a rigid body with unknown dynamics. Attitude is estimated from a minimum of two linearly independent known vectors measured in the body-fixed frame, and the angular velocity vector is assumed to have a constant bias in addition to measurement errors. Estimated attitude evolves directly on the special Euclidean group SO(3), avoiding any ambiguities. The constant bias in angular velocity measurements is also estimated. The estimation scheme is proven to be almost globally finite time stable in the absence of measurement errors using a Lyapunov analysis. For digital implementation, the estimation scheme is discretized as a geometric integrator. Numerical simulations demonstrate the robustness and convergence capabilities of the estimation scheme.
AB - This paper presents a nonlinear finite-time stable attitude estimation scheme for a rigid body with unknown dynamics. Attitude is estimated from a minimum of two linearly independent known vectors measured in the body-fixed frame, and the angular velocity vector is assumed to have a constant bias in addition to measurement errors. Estimated attitude evolves directly on the special Euclidean group SO(3), avoiding any ambiguities. The constant bias in angular velocity measurements is also estimated. The estimation scheme is proven to be almost globally finite time stable in the absence of measurement errors using a Lyapunov analysis. For digital implementation, the estimation scheme is discretized as a geometric integrator. Numerical simulations demonstrate the robustness and convergence capabilities of the estimation scheme.
UR - http://www.scopus.com/inward/record.url?scp=85071526432&partnerID=8YFLogxK
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U2 - 10.23919/ECC.2019.8796262
DO - 10.23919/ECC.2019.8796262
M3 - Conference contribution
AN - SCOPUS:85071526432
T3 - 2019 18th European Control Conference, ECC 2019
SP - 4047
EP - 4052
BT - 2019 18th European Control Conference, ECC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th European Control Conference, ECC 2019
Y2 - 25 June 2019 through 28 June 2019
ER -