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Nicolas Petit – One of the best experts on this subject based on the ideXlab platform.

  • Angular Velocity nonlinear observer from vector measurements
    Automatica, 2017
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    This paper proposes a technique to estimate the Angular Velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.

  • Angular Velocity nonlinear observer from single vector measurements
    IEEE Transactions on Automatic Control, 2016
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    The paper proposes a technique to estimate the Angular Velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.

  • Angular Velocity nonlinear observer from vector measurements
    arXiv: Dynamical Systems, 2015
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    The paper proposes a technique to estimate the Angular Velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.

Jinjun Shan – One of the best experts on this subject based on the ideXlab platform.

  • Adaptive synchronized attitude Angular Velocity tracking control of multi-UAVs
    Proceedings of the 2005 American Control Conference 2005., 1
    Co-Authors: Hugh H. T. Liu, Jinjun Shan
    Abstract:

    An adaptive synchronization strategy is proposed and applied to the attitude Angular Velocity tracking control of multiple unmanned aerial vehicles (UAVs). It achieves global asymptotic convergence of both the attitude Angular Velocity tracking and the Angular Velocity synchronization, even in the presence of system parameter uncertainties. Simulation results of multiple UAVs in coordination verify the effectiveness of the proposed approach.

Frederic Mazenc – One of the best experts on this subject based on the ideXlab platform.

  • Partial Lyapunov Strictification: Smooth Angular Velocity Observers for Attitude Tracking Control
    Journal of Guidance Control and Dynamics, 2015
    Co-Authors: Maruthi Akella, Thakur Divya, Frederic Mazenc
    Abstract:

    A smooth Angular Velocity observer is proposed for the attitude tracking control of a rigid body in the absence of Angular Velocity measurements. The observer design ensures asymptotic convergence of Angular Velocity state estimation errors irrespective of the control torque or the initial attitude state of the spacecraft. Unlike existing rate observer formulations that attain estimation error convergence by imposing certain switching conditions or hybrid logic, the proposed observer has a smooth structure that ensures C∞C∞ continuity of all estimated states. Furthermore, the combined implementation of the proposed observer with a proportional-derivative type of attitude control law leads to an important “separation property.” In particular, an independently designed proportional-derivative control law driven by Angular Velocity estimates generated from the smooth observer results in (almost) global asymptotic stability of the overall closed-loop tracking error dynamics. The main feature of this key technical result stems from our use of a Lyapunov “strictification” process that enables the closed-loop stability and convergence analysis to proceed along novel lines in a spiral logic fashion. A rigorous analysis of the proposed formulation is provided and numerical simulation studies are presented to help illustrate the effectiveness of the Angular Velocity observer for rigid-body attitude tracking control.

  • partial lyapunov strictification smooth Angular Velocity observers for attitude tracking control
    Journal of Guidance Control and Dynamics, 2015
    Co-Authors: Maruthi R Akella, Divya Thakur, Frederic Mazenc
    Abstract:

    A smooth Angular Velocity observer is proposed for the attitude tracking control of a rigid body in the absence of Angular Velocity measurements. The observer design ensures asymptotic convergence of Angular Velocity state estimation errors irrespective of the control torque or the initial attitude state of the spacecraft. Unlike existing rate observer formulations that attain estimation error convergence by imposing certain switching conditions or hybrid logic, the proposed observer has a smooth structure that ensures C∞ continuity of all estimated states. Furthermore, the combined implementation of the proposed observer with a proportional-derivative type of attitude control law leads to an important “separation property.” In particular, an independently designed proportional-derivative control law driven by Angular Velocity estimates generated from the smooth observer results in (almost) global asymptotic stability of the overall closed-loop tracking error dynamics. The main feature of this key technic…

Lionel Magnis – One of the best experts on this subject based on the ideXlab platform.

  • Angular Velocity nonlinear observer from vector measurements
    Automatica, 2017
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    This paper proposes a technique to estimate the Angular Velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.

  • Angular Velocity nonlinear observer from single vector measurements
    IEEE Transactions on Automatic Control, 2016
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    The paper proposes a technique to estimate the Angular Velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.

  • Angular Velocity nonlinear observer from vector measurements
    arXiv: Dynamical Systems, 2015
    Co-Authors: Lionel Magnis, Nicolas Petit
    Abstract:

    The paper proposes a technique to estimate the Angular Velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the Angular Velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.

M.j. Enos – One of the best experts on this subject based on the ideXlab platform.

  • Angular Velocity control of rigid body motions
    [1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1992
    Co-Authors: M.j. Enos
    Abstract:

    The problem of finding a motion of a rigid body in three space with Angular Velocity close to a prescribed vector function omega is considered. In particular, if u is the Angular Velocity of the body, one seeks minimizers of // mod u- omega mod ///sub p/ on an admissible class consisting of C/sup 2/ rigid body motions on