This paper provides a new switching angular velocity observer formulation to the classical problem of rigid-body attitude tracking control in the absence of angular rate measurements. Exponential convergence of the angular velocity state estimation errors is proven using a novel error signal definition through the use of this switching-type observer. The observer synthesis and convergence properties are independent of controller design. The switching ensures C 0 continuity for all the estimated states. Further, the maximum number of switches required by the observer is shown to be finite and that zeno-type behavior cannot occur. A “separation-property” type result for the attitude tracking problem is established, wherein a proportional-derivative controller uses angular velocity estimates from the proposed switching observer in the absence of actual angular rate measurements, while ensuring almost global asymptotic stability for the overall closed-loop tracking error dynamics. The separation property is also proven to hold when a gyroscopic nonlinear compensation term is added to the proportional-derivative controller.


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    Title :

    Switching Angular Velocity Observer for Rigid-Body Attitude Stabilization and Tracking Control


    Contributors:

    Published in:

    Publication date :

    2014-02-28


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Switching Angular Velocity Observer for Rigid-Body Attitude Stabilization and Tracking Control (AAS 13-216)

    Chunodkar, A.A. / Akella, M.R. / American Astronautical Society et al. | British Library Conference Proceedings | 2013



    Rigid Body Attitude Tracking Without Angular Velocity Feedback (AAS 00-100)

    Akella, M. R. / AAS / AIAA | British Library Conference Proceedings | 2000