Globally Asymptotically Stable Attitude Observer on SO(3)

Simple item page
dc.contributor.authorWu, TseHuai
dc.contributor.authorKaufman, Evan
dc.contributor.authorLee, Taeyoung
dc.date.accessioned2026-03-05T19:36:02Z
dc.date.issued2016-02-11
dc.description2015 IEEE 54th Annual Conference on Decision and Control (CDC), Osaka Japan, December 15-18, 2015
dc.description.abstractThis paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is impossible to achieve global attractivity. It is illustrated that such attitude observers may yield very slow initial convergence rates, and motivated by this, we propose a hybrid attitude observer that guarantees global asymptotic stability on the special orthogonal group. This is shown to exhibit substantially improved convergence rate uniformly via numerical examples.
dc.description.urihttps://ieeexplore.ieee.org/abstract/document/7402527
dc.format.extent8 pages
dc.genreconference papers and proceedings
dc.genrepreprints
dc.identifier.citationWu, Tse-Huai, Evan Kaufman, and Taeyoung Lee. “Globally Asymptotically Stable Attitude Observer on SO(3).” 2015 54th IEEE Conference on Decision and Control (CDC), December 2015, 2164–68. https://doi.org/10.1109/CDC.2015.7402527.
dc.identifier.urihttps://doi.org/10.1109/CDC.2015.7402527
dc.identifier.urihttp://hdl.handle.net/11603/42072
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.subjectConvergence
dc.subjectManifolds
dc.subjectObservers
dc.subjectAttitude control
dc.subjectUMBC Nameless Lab
dc.subjectAngular velocity
dc.subjectAsymptotic stability
dc.titleGlobally Asymptotically Stable Attitude Observer on SO(3)
dc.title.alternativeHybrid Attitude Observer on SO(3) with Global Asymptotic Stability
dc.typeText
dcterms.creatorhttps://orcid.org/0000-0003-0167-6291

Files

Original bundle

Now showing 1 - 1 of 1
Thumbnail Image
Name:
1509.01754v1.pdf
Size:
854.96 KB
Format:
Adobe Portable Document Format
Download

Collections

UMBC Mechanical Engineering Department