Related papers: On Angular Speed Estimation of Rigid Bodies
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
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…
The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…
The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead,…
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…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…
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 considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
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 work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…