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

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

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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
Issue number11
StatePublished - Nov 2017

All Science Journal Classification (ASJC) codes

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

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