Nonlinear Attitude Estimation Using Intermittent and Multirate Vector Measurements

• 成果类型: Article
• 署名作者: Wang, Miaomiao; Tayebi, Abdelhamid
• 署名单位: Lakehead University; Western University (University of Western Ontario)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3346799
• 发表日期: 2024
• 页码: 5231-5245
• 关键词: Observers; estimation; asymptotic stability; Velocity measurement; Robot sensing systems; Angular velocity; MANIFOLDS; Attitude estimation; hybrid observers; intermittent measurements; Lie group SO(3); multirate measurements

摘要

This article considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multirate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid attitude observers on Lie group SO(3) are proposed. First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers.