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Article Dans Une Revue IEEE Control Systems Letters Année : 2022

On Angular Speed Estimation of Rigid Bodies

Résumé

The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically simplifies the analysis of the proposed observer. Using Lyapunov analysis, sufficient conditions for global asymptotic stability of a set wherein the estimation error is equal to zero are established. In addition, the proposed methodology is adapted to deal with angular speed estimation for systems evolving on the unit circle. The approach is illustrated through several numerical simulations.

Dates et versions

hal-03170635 , version 1 (16-03-2021)

Identifiants

Citer

Francesco Ferrante, Gildas Besancon. On Angular Speed Estimation of Rigid Bodies. IEEE Control Systems Letters, 2022, 6, pp.1394-1399. ⟨10.1109/LCSYS.2021.3090034⟩. ⟨hal-03170635⟩
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