Global exponential angular velocity observer for rigid body systems

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on SO(3) × R3. The global exponential stability result makes this observer a good candidate for a controller-observer combination with a guaranteed separation property. Simulation results are provided to demonstrate the effectiveness of the proposed hybrid observer as a part of an attitude stabilization scheme.

Original languageEnglish (US)
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4154-4159
Number of pages6
ISBN (Electronic)9781509018376
DOIs
StatePublished - Dec 27 2016
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Publication series

Name2016 IEEE 55th Conference on Decision and Control, CDC 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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