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Relative attitude observers for three-platform formations with inertial spread observations
Pedro Batista1; Carlos Silvestre2; Paulo Oliveira3
2016-12-29
Conference NameIEEE Conference on Decision and Control
Source Publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
Pages6266-6271
Conference Date12-14 Dec. 2016
Conference PlaceLas Vegas, NV, USA
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 ByCPCI-S
Language英語English
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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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Department of Electrical and Computer Engineering, Universidade de Lisboa, Portugal Institute for Systems and Robotics, Laboratory for Robotics and Engineering Systems, Portugal
2.Department of Electrical and Computer Engineering, University of Macau Institute for Systems and Robotics, Laboratory for Robotics and Engineering Systems, Portugal
3.Department of Mechanical Engineering, Universidade de Lisboa, Portugal Institute for Systems and Robotics, Laboratory for Robotics and Engineering Systems, Portugal
Recommended Citation
GB/T 7714
Pedro Batista,Carlos Silvestre,Paulo Oliveira. Relative attitude observers for three-platform formations with inertial spread observations[C],2016:6266-6271.
APA Pedro Batista,Carlos Silvestre,&Paulo Oliveira.(2016).Relative attitude observers for three-platform formations with inertial spread observations.2016 IEEE 55th Conference on Decision and Control, CDC 2016,6266-6271.
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