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A Robust Observer with Gyroscopic Bias Correction for Rotational Dynamics

Lefeber, Erjen LU ; Greiff, Marcus LU and Robertsson, Anders LU (2023) 22nd IFAC World Congress In IFAC-PapersOnLine 56(2). p.1641-1648
Abstract

We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential stability of the resulting error dynamics, implying robustness against bounded disturbances. This robustness is quantified with respect to a popular nonlinear complementary filter in quantitative simulation studies, and we explore how the measurement noise propagates to the asymptotic errors as a function of tuning.

Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Lyapunov methods, Nonlinear observers and filter design, UAVs
host publication
IFAC-PapersOnLine
series title
IFAC-PapersOnLine
editor
Ishii, Hideaki ; Ebihara, Yoshio ; Imura, Jun-ichi and Yamakita, Masaki
volume
56
issue
2
pages
8 pages
publisher
Elsevier
conference name
22nd IFAC World Congress
conference location
Yokohama, Japan
conference dates
2023-07-09 - 2023-07-14
external identifiers
  • scopus:85184960041
ISSN
2405-8963
ISBN
9781713872344
DOI
10.1016/j.ifacol.2023.10.1867
language
English
LU publication?
yes
id
ca74733b-0c31-4f02-ba30-2ba52ffb7f93
date added to LUP
2024-02-27 14:17:27
date last changed
2024-09-17 11:07:44
@inproceedings{ca74733b-0c31-4f02-ba30-2ba52ffb7f93,
  abstract     = {{<p>We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential stability of the resulting error dynamics, implying robustness against bounded disturbances. This robustness is quantified with respect to a popular nonlinear complementary filter in quantitative simulation studies, and we explore how the measurement noise propagates to the asymptotic errors as a function of tuning.</p>}},
  author       = {{Lefeber, Erjen and Greiff, Marcus and Robertsson, Anders}},
  booktitle    = {{IFAC-PapersOnLine}},
  editor       = {{Ishii, Hideaki and Ebihara, Yoshio and Imura, Jun-ichi and Yamakita, Masaki}},
  isbn         = {{9781713872344}},
  issn         = {{2405-8963}},
  keywords     = {{Lyapunov methods; Nonlinear observers and filter design; UAVs}},
  language     = {{eng}},
  number       = {{2}},
  pages        = {{1641--1648}},
  publisher    = {{Elsevier}},
  series       = {{IFAC-PapersOnLine}},
  title        = {{A Robust Observer with Gyroscopic Bias Correction for Rotational Dynamics}},
  url          = {{http://dx.doi.org/10.1016/j.ifacol.2023.10.1867}},
  doi          = {{10.1016/j.ifacol.2023.10.1867}},
  volume       = {{56}},
  year         = {{2023}},
}