Hybrid Attitude and Gyro-Bias Observer Design on $sO(3)$

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

This paper presents an approach for the design of globally exponentially stable hybrid attitude and gyro-bias observers on SO(3)×R3. First, we propose a hybrid observer developed in a generic manner involving a generic family of potential functions with specific properties. Thereafter, we present a design method for such potential functions via an appropriate angular warping transformation applied to a new potential function on SO(3). This results in a hybrid observer that uses directly body-frame measurements of known inertial vectors.

Original languageEnglish (US)
Article number7931660
Pages (from-to)6044-6050
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume62
Issue number11
DOIs
StatePublished - Nov 1 2017

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Berkane, Soulaimane ; Abdessameud, Abdelkader ; Tayebi, Abdelhamid. / Hybrid Attitude and Gyro-Bias Observer Design on $sO(3)$. In: IEEE Transactions on Automatic Control. 2017 ; Vol. 62, No. 11. pp. 6044-6050.
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Berkane, S, Abdessameud, A & Tayebi, A 2017, 'Hybrid Attitude and Gyro-Bias Observer Design on $sO(3)$', IEEE Transactions on Automatic Control, vol. 62, no. 11, 7931660, pp. 6044-6050. https://doi.org/10.1109/TAC.2017.2705558

Hybrid Attitude and Gyro-Bias Observer Design on $sO(3)$. / Berkane, Soulaimane; Abdessameud, Abdelkader; Tayebi, Abdelhamid.

In: IEEE Transactions on Automatic Control, Vol. 62, No. 11, 7931660, 01.11.2017, p. 6044-6050.

Research output: Contribution to journalArticle

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