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Angular Velocity
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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, 2017CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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, 2016CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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 freerotation 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, 2015CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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 multiUAVs
Proceedings of the 2005 American Control Conference 2005., 1CoAuthors: Hugh H. T. Liu, Jinjun ShanAbstract: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, 2015CoAuthors: Maruthi Akella, Thakur Divya, Frederic MazencAbstract: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 proportionalderivative type of attitude control law leads to an important “separation property.” In particular, an independently designed proportionalderivative control law driven by Angular Velocity estimates generated from the smooth observer results in (almost) global asymptotic stability of the overall closedloop tracking error dynamics. The main feature of this key technical result stems from our use of a Lyapunov “strictification” process that enables the closedloop 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 rigidbody attitude tracking control.

partial lyapunov strictification smooth Angular Velocity observers for attitude tracking control
Journal of Guidance Control and Dynamics, 2015CoAuthors: Maruthi R Akella, Divya Thakur, Frederic MazencAbstract: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 proportionalderivative type of attitude control law leads to an important “separation property.” In particular, an independently designed proportionalderivative control law driven by Angular Velocity estimates generated from the smooth observer results in (almost) global asymptotic stability of the overall closedloop 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, 2017CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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, 2016CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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 freerotation 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, 2015CoAuthors: Lionel Magnis, Nicolas PetitAbstract: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 lineartime 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, 1992CoAuthors: M.j. EnosAbstract: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