Propagation of uncertainty in rigid body attitude flows

Taeyoung Lee; Nalin A. Chaturvedi; Amit Sanyal; Melvin Leok; N. Harris McClamroch

doi:10.1109/CDC.2007.4434145

Propagation of uncertainty in rigid body attitude flows

Taeyoung Lee, Nalin A. Chaturvedi, Amit Sanyal, Melvin Leok, N. Harris McClamroch

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

6 Scopus citations

Abstract

Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented) sample selected from the initial uncertainty ellipsoid. Each of these computational methods is constructed using a Lie group variational integrator, viewed as a discretization of the attitude dynamics. Computational results are obtained that indicate (1) the strongly nonlinear attitude flow characteristics and (2) the limitations of each of these methods, and indeed any method, in providing effective global bounds on the nonlinear attitude flow.

Original language	English (US)
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2689-2694
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434145
State	Published - 2007
Externally published	Yes
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: Dec 12 2007 → Dec 14 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 12/14/07

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2007.4434145

Cite this

Lee, T., Chaturvedi, N. A., Sanyal, A., Leok, M., & McClamroch, N. H. (2007). Propagation of uncertainty in rigid body attitude flows. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 2689-2694). Article 4434145 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434145

Propagation of uncertainty in rigid body attitude flows. / Lee, Taeyoung; Chaturvedi, Nalin A.; Sanyal, Amit et al.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 2689-2694 4434145 (Proceedings of the IEEE Conference on Decision and Control).

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

Lee, T, Chaturvedi, NA, Sanyal, A, Leok, M & McClamroch, NH 2007, Propagation of uncertainty in rigid body attitude flows. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434145, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2689-2694, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434145

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abstract = "Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented) sample selected from the initial uncertainty ellipsoid. Each of these computational methods is constructed using a Lie group variational integrator, viewed as a discretization of the attitude dynamics. Computational results are obtained that indicate (1) the strongly nonlinear attitude flow characteristics and (2) the limitations of each of these methods, and indeed any method, in providing effective global bounds on the nonlinear attitude flow.",

author = "Taeyoung Lee and Chaturvedi, {Nalin A.} and Amit Sanyal and Melvin Leok and McClamroch, {N. Harris}",

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series = "Proceedings of the IEEE Conference on Decision and Control",

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AU - Lee, Taeyoung

AU - Chaturvedi, Nalin A.

AU - Sanyal, Amit

AU - Leok, Melvin

AU - McClamroch, N. Harris

PY - 2007

Y1 - 2007

N2 - Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented) sample selected from the initial uncertainty ellipsoid. Each of these computational methods is constructed using a Lie group variational integrator, viewed as a discretization of the attitude dynamics. Computational results are obtained that indicate (1) the strongly nonlinear attitude flow characteristics and (2) the limitations of each of these methods, and indeed any method, in providing effective global bounds on the nonlinear attitude flow.

AB - Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented) sample selected from the initial uncertainty ellipsoid. Each of these computational methods is constructed using a Lie group variational integrator, viewed as a discretization of the attitude dynamics. Computational results are obtained that indicate (1) the strongly nonlinear attitude flow characteristics and (2) the limitations of each of these methods, and indeed any method, in providing effective global bounds on the nonlinear attitude flow.

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ER -

Propagation of uncertainty in rigid body attitude flows

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