Related papers: Geometric Tracking Control of the Attitude Dynamic…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear…
We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…