Related papers: Attitude Tracking for Rigid Bodies Using Vector an…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent…
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.…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
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 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)…
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…
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
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…
In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
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…
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…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
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…