Rigid body attitude control with inclinometer and low-cost gyro measurements

被引：24
|
作者：
Akella, MR [1 ]
Halbert, JT
Kotamraju, GR
机构：
[1] Univ Texas, Dept Aerosp Engn & Engn Mech, Austin, TX 78712 USA
[2] Microstrategy Inc, Vienna, VA 22182 USA
来源：
SYSTEMS & CONTROL LETTERS | 2003年 / 49卷 / 02期
关键词：
attitude control; inclinometers; Modified Rodrigues Parameters; output feedback; low-cost gyros;
D O I：
10.1016/S0167-6911(02)00320-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In our paper, we consider the state regulation problem for the nonlinear kinematic equations and Euler equations of a rigid body observed under low-pass sensors. This problem is motivated by the corresponding state estimation problem covered in recent literature on walking robots and virtual reality gadgets. We show the existence of an asymptotically stabilizing feedback controller for the dynamics that provides reliable performance. (C) 2002 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：151 / 159
页数：9
相关论文
共 50 条
  • [1] Feedback control of rigid body attitude with inclinometer and low-cost gyro measurements
    Akella, M
    Halbert, J
    Kotamraju, G
    SPACEFLIGHT MECHANICS 2001, VOL 108, PTS 1 AND 2, 2001, 108 : 545 - 553
  • [2] Attitude estimation based on low cost gyro and inclinometer
    Zhu F.-C.
    Yao M.-L.
    Jia W.-M.
    Yuhang Xuebao/Journal of Astronautics, 2011, 32 (08): : 1728 - 1733
  • [3] Attitude estimation and stabilization of a rigid body using low-cost sensors
    Tayebi, A.
    McGilvray, S.
    Roberts, A.
    Moallem, M.
    PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, : 2950 - +
  • [4] Rigid Body Attitude Control Using a Single Vector Measurement and Gyro
    Khosravian, Alireza
    Namvar, Mehrzad
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2012, 57 (05) : 1273 - 1279
  • [5] RIGID-BODY ATTITUDE TRACKING WITH VECTOR MEASUREMENTS AND UNKNOWN GYRO BIAS
    Mercker, Travis H.
    Akella, Maruthi R.
    SPACEFLIGHT MECHANICS 2011, PTS I-III, 2011, 140 : 177 - +
  • [6] Rigid-Body Attitude Tracking with Vector Measurements and Unknown Gyro Bias
    Mercker, Travis H.
    Akella, Maruthi R.
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2011, 34 (05) : 1474 - 1484
  • [7] Development of an integrated low-cost GPS/rate gyro system for attitude determination
    Wang, C
    Lachapelle, G
    Cannon, ME
    JOURNAL OF NAVIGATION, 2004, 57 (01): : 85 - 101
  • [8] Gyro-Free Rigid-Body Attitude Stabilization Using only Vector Measurements
    Thakur, Divya
    Akella, Maruthi R.
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2015, 38 (04) : 811 - 818
  • [9] Low-cost land vehicle attitude determination using single-epoch GPS data, MEMS-based inclinometer measurements
    Wantong Chen
    Kunfan Hu
    Ercui Li
    Acta Geodaetica et Geophysica, 2017, 52 : 111 - 129
  • [10] Low-cost land vehicle attitude determination using single-epoch GPS data, MEMS-based inclinometer measurements
    Chen, Wantong
    Hu, Kunfan
    Li, Ercui
    ACTA GEODAETICA ET GEOPHYSICA, 2017, 52 (01) : 111 - 129
12345