Attitude stabilization without angular velocity measurements

Benziane, L.; Benallègue, A.; Tayebi, Abdelhamid

doi:10.1109/icra.2014.6907307

Cited by 6 publications

(4 citation statements)

References 34 publications

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“…The equilibria Θ ± 2,3,4 are locally unstable and Θ ± 1 are almost globally asymptotically stable. Proof: The proof of the first item is similar to the proof of Theorem 1 presented in [32]. Recall that the closed loop dynamics (43) is autonomous, therefore it is possible to use LaSalle's invariance theorem to proof the second item.…”

Section: A Controller Designmentioning

confidence: 90%

“…Consider System (7)-(9) and the control law (42) with the observer given by (41). Under Assumption 1 in Subsection II-B and if Hypothesis of Lemma 1 in [32] holds, then (1) The equilibria of the closed-loop system (43) are defined by…”

Section: A Controller Designmentioning

confidence: 99%

“…Recently, some authors propose to use directly raw vector measurements to perform attitude control (see e.g. [6], [7], [8]). In fact, the explicit use of the attitude in the control law involves the determination of attitude from measurements provided by appropriate sensors.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Attitude Estimation and Control Using Linearlike Complementary Filters: Theory and Experiment

Benziane¹,

Hadri²,

Seba³

et al. 2016

IEEE Trans. Contr. Syst. Technol.

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This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD algorithm are proposed to give attitude estimation solutions. These solutions which are efficient with respect to noise include the gyro bias estimation. Thereafter, the same principle of data fusion is used to address the problem of attitude tracking based on inertial vector measurements. Thus, instead of using noisy raw measurements in the control law a new solution of control that includes a linear-like complementary filter to deal with the noise is proposed. The stability analysis of the tracking error dynamics based on LaSalle's invariance theorem proved that almost all trajectories converge asymptotically to the desired equilibrium. Experimental results, obtained with DIY Quad equipped with the APM2.6 auto-pilot, show the effectiveness and the performance of the proposed solutions.

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Section: A Controller Designmentioning

confidence: 90%

Section: A Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Attitude Estimation and Control Using Linearlike Complementary Filters: Theory and Experiment

Benziane¹,

Hadri²,

Seba³

et al. 2016

IEEE Trans. Contr. Syst. Technol.

Self Cite

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“…A velocity‐free attitude stabilization scheme relying solely on body‐referenced vector measurements leading to almost global stability results is proposed in the present paper. The proposed solution, which extends preliminary work that appeared in , can be regarded as an improved version of . The main differences are as follows: (a) the use of an auxiliary system in terms of body vector measurements rather than an auxiliary system in terms of unit quaternion and (b) an explicit design of an angular velocity observer‐like system, which is used in the design of the stabilizing feedback.…”

Section: Introductionmentioning

confidence: 99%

Velocity‐free attitude stabilization with inertial vector measurements

Benziane

Benallègue

Chitour

et al. 2015

Intl J Robust & Nonlinear

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SUMMARYThis paper deals with the attitude stabilization problem of a rigid body, where neither the angular velocity nor the attitude is used in the feedback; only body-referenced vector measurements are needed. The proposed control scheme is based on an angular velocity observer-like system relying solely on vector measurements. The proposed controller ensures almost global asymptotic stability and provides some interesting performance properties through an appropriate tuning of the control gains. The performance and effectiveness of the proposed control scheme are illustrated via simulation results where the control gains are adjusted using a nonlinear optimization.

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Angular velocity observer design using vector measurements with application to attitude tracking

Zhu,

Gui,

2024

Intl J Robust & Nonlinear

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This article addresses the design of angular velocity observer for rigid bodies using vector measurements directly. The main contributions of our observer compared with the classical estimation algorithms lie in that it does not need to reconstruct the attitude information from the measurements nor be implemented with velocity sensors. Meanwhile, it provides three‐degrees‐of‐freedom (3DOF) full state estimates. To avoid the unstable critical points for the attitude estimation errors on SO(3), the synergistic potential functions based hybrid method is adopted. Afterwards, an output feedback attitude tracking controller with a proportional‐derivative (PD) plus feedforward form is built based on the estimates from the observer, which can also be implemented using vector measurements directly. Rigorous analysis of the stability of the observer and the combined observer‐controller are presented in detail, with a separation property shown between the observer and the controller. Simulations are conducted to illustrate the effectiveness of the proposed observer and the combined attitude tracking law.

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Attitude stabilization without angular velocity measurements

Cited by 6 publications

References 34 publications

Attitude Estimation and Control Using Linearlike Complementary Filters: Theory and Experiment

Attitude Estimation and Control Using Linearlike Complementary Filters: Theory and Experiment

Velocity‐free attitude stabilization with inertial vector measurements

Angular velocity observer design using vector measurements with application to attitude tracking

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