Global hybrid attitude estimation on the Special Orthogonal group SO(3)

Soulaimane Berkane; Abdelkader Abdessameud; Abdelhamid Tayebi

doi:10.1109/ACC.2016.7524901

Global hybrid attitude estimation on the Special Orthogonal group SO(3)

Soulaimane Berkane
, Abdelkader Abdessameud
, Abdelhamid Tayebi

School of Science, Engineering & Technology (Harrisburg)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Scopus citations

Abstract

This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.

Original language	English (US)
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	113-118
Number of pages	6
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7524901
State	Published - Jul 28 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Other

Other	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	7/6/16 → 7/8/16

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2016.7524901

Cite this

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title = "Global hybrid attitude estimation on the Special Orthogonal group SO(3)",

abstract = "This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.",

author = "Soulaimane Berkane and Abdelkader Abdessameud and Abdelhamid Tayebi",

note = "Publisher Copyright: {\textcopyright} 2016 American Automatic Control Council (AACC).; 2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

year = "2016",

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doi = "10.1109/ACC.2016.7524901",

language = "English (US)",

series = "Proceedings of the American Control Conference",

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Berkane, S, Abdessameud, A & Tayebi, A 2016, Global hybrid attitude estimation on the Special Orthogonal group SO(3). in 2016 American Control Conference, ACC 2016., 7524901, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 113-118, 2016 American Control Conference, ACC 2016, Boston, United States, 7/6/16. https://doi.org/10.1109/ACC.2016.7524901

Global hybrid attitude estimation on the Special Orthogonal group SO(3). / Berkane, Soulaimane; Abdessameud, Abdelkader; Tayebi, Abdelhamid.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 113-118 7524901 (Proceedings of the American Control Conference; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

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AU - Abdessameud, Abdelkader

AU - Tayebi, Abdelhamid

PY - 2016/7/28

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N2 - This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.

AB - This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.

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M3 - Conference contribution

AN - SCOPUS:84992109640

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BT - 2016 American Control Conference, ACC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 American Control Conference, ACC 2016

Y2 - 6 July 2016 through 8 July 2016

ER -

Global hybrid attitude estimation on the Special Orthogonal group SO(3)

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