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Relative attitude observers for three-platform formations with inertial spread observations
Batista P.1,2; Silvestre C.1,3; Oliveira P.1,2
2016-12-27
Conference Name55th IEEE Conference on Decision and Control (CDC)
Source Publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
Pages6266-6271
Conference DateLas Vegas, NV
Conference PlaceDEC 12-14, 2016
Abstract

The problem of relative attitude estimation for a formation of three mobile platforms is addressed in this paper. In previous work by the authors rate gyro bias has been considered for two of the three platforms. This paper proposes an extended framework that includes rate gyro bias estimation for all platforms. In order to do so, two additional vector observations of constant inertial vectors are assumed available, which may be distributed among the platforms. Cascade observers are then proposed, where the first stage acts as a bias observer and the second allows to filter attitude estimates directly on the special orthogonal group. The first is globally exponentially stable and the second is locally input-to-state stable with respect to the errors of the first, with the region of convergence for the initial attitude estimate better described as semi-global. Lastly, simulation results are presented that exemplify the performance of the proposed estimators in the presence of sensor noise.

DOI10.1109/CDC.2016.7799233
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Operations Research & Management Science
WOS IDWOS:000400048106077
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Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Inst Syst & Robot, Lab Robot & Engn Syst, Coimbra, Portugal
2.Univ Lisbon, Inst Super Tecn, Dept Elect & Comp Engn, Lisbon, Portugal
3.Univ Macau, Dept Elect & Comp Engn, Taipa, Macao, Peoples R China
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. Relative attitude observers for three-platform formations with inertial spread observations[C],2016:6266-6271.
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