Related papers: Attitude Observation for Second Order Attitude Kin…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
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…
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…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…
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…
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…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
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…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
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…
A new, second-order solution in curvilinear coordinates is introduced for the relative motion of two spacecraft on eccentric orbits. The second-order equations for unperturbed orbits are derived in spherical coordinates with true anomaly as…
This paper revisits the problems of estimating the position of an object moving in $n$ ($\geq 2$)-dimensional Euclidean space using velocity measurements and either direction or range measurements of one or multiple source points. The…
This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…