Global hybrid attitude estimation on the Special Orthogonal group SO(3)

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

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

6 Scopus citations

Abstract

This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages113-118
Number of pages6
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Berkane, S., Abdessameud, A., & Tayebi, A. (2016). Global hybrid attitude estimation on the Special Orthogonal group SO(3). In 2016 American Control Conference, ACC 2016 (pp. 113-118). [7524901] (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7524901