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

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Contribution to journalArticlepeer-review

19 Scopus citations

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