Finite time stable attitude and angular velocity bias estimation for rigid bodies with unknown dynamics

Amit Sanyal, Rakesh R. Warier, Reza Hamrah

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4047-4052
Number of pages6
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 1 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

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ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

Cite this

Sanyal, A., Warier, R. R., & Hamrah, R. (2019). Finite time stable attitude and angular velocity bias estimation for rigid bodies with unknown dynamics. In 2019 18th European Control Conference, ECC 2019 (pp. 4047-4052). [8796262] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8796262