Angular velocity observer for velocity-free attitude tracking control on SO(3)

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dc.contributor.authorWu, TseHuai
dc.contributor.authorLee, Taeyoung
dc.date.accessioned2026-03-05T19:36:04Z
dc.date.issued2015-11-23
dc.description2015 European Control Conference (ECC), Linz, Austria, July 15-17, 2015
dc.description.abstractThis paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is guaranteed to converge to the true angular velocity asymptotically from almost all initial estimates. As it is developed directly on the special orthogonal group, it completely avoids singularities, complexities, or discontinuities caused by minimal attitude representations or quaternions. Then, the presented observer is integrated with a proportional-derivative attitude tracking controller to show a separation type property, where exponential stability is guaranteed for the combined observer and attitude control system.
dc.description.urihttps://ieeexplore.ieee.org/abstract/document/7330803
dc.format.extent6 pages
dc.genreconference papers and proceedings
dc.genrepreprints
dc.identifierdoi:10.13016/m2ii3s-tjgj
dc.identifier.citationWu, Tse-Huai, and Taeyoung Lee. “Angular Velocity Observer for Velocity-Free Attitude Tracking Control on SO(3).” 2015 European Control Conference (ECC), July 2015, 1824–29. https://doi.org/10.1109/ECC.2015.7330803.
dc.identifier.urihttps://doi.org/10.1109/ECC.2015.7330803
dc.identifier.urihttp://hdl.handle.net/11603/42079
dc.language.isoen
dc.publisherIEEE
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department
dc.rights© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.subjectVelocity measurement
dc.subjectQuaternions
dc.subjectObservers
dc.subjectAttitude control
dc.subjectUMBC Nameless Lab
dc.subjectAngular velocity
dc.subjectControl theory
dc.subjectSwitches
dc.titleAngular velocity observer for velocity-free attitude tracking control on SO(3)
dc.title.alternativeAngular Velocity Observer on the Special Orthogonal Group for Velocity-Free Rigid-Body Attitude Tracking Control
dc.typeText
dcterms.creatorhttps://orcid.org/0000-0003-0167-6291

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