A Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observer
Optimization and Control
2016-12-22 v2
Abstract
This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global exponential stability using biased angular velocity and inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed observer.
Keywords
Cite
@article{arxiv.1603.09223,
title = {A Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observer},
author = {Soulaimane Berkane and Abdelkader Abdessameud and Abdelhamid Tayebi},
journal= {arXiv preprint arXiv:1603.09223},
year = {2016}
}
Comments
Errors have been fixed in another paper by the authors