Related papers: Inertial Vector Based Attitude Stabilization of Ri…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple "geometry-free" nonlinear observer with guaranteed uniform global asymptotic…
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…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
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 investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…