Related papers: Nonlinear Attitude Estimation Using Intermittent L…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Localization and Mapping (SLAM). SLAM is a core task in robotics…
This paper considers the design of nonlinear observers for invariant systems posed on finite-dimensional connected Lie groups with measurements generated by a transitive group action on an associated homogeneous space. We consider the case…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed…
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…
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…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Problem of an adaptive state observer design for nonlinear system with unknown time-varying parameters and under condition of delayed measurements is considered. State observation problem was raised by many researchers (see for example Sanx…
In this paper, a novel finite - time Nonlinear Extended State Observer (NLESO) is proposed and employed in Active Disturbance Rejection Control (ADRC) to stabilize a nonlinear system against system's uncertainties and discontinuous…
A hybrid dynamical system switches between dynamic regimes at time- or state-triggered events. We propose an offline algorithm that simultaneously estimates discrete and continuous components of a hybrid system's state. We formulate state…
The problem of state estimation for a system of coupled hyperbolic PDEs and ODEs with Lipschitz nonlinearities with boundary measurements is considered. An infinite dimensional observer with a linear boundary injection term is used to solve…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
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…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from…
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…