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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2016

Angular Velocity Nonlinear Observer From Single Vector Measurements

Lionel Magnis
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Nicolas Petit


The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.
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Dates et versions

hal-01369515 , version 1 (21-09-2016)



Lionel Magnis, Nicolas Petit. Angular Velocity Nonlinear Observer From Single Vector Measurements. IEEE Transactions on Automatic Control, 2016, 61 (9), pp.2473-2483. ⟨10.1109/TAC.2015.2501358⟩. ⟨hal-01369515⟩
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