Rigid body attitude control with inclinometer and low-cost gyro measurements

被引：24

作者：

Akella, MR ^{[1
]}

Halbert, JT

Kotamraju, GR

机构：

[1] Univ Texas, Dept Aerosp Engn & Engn Mech, Austin, TX 78712 USA

[2] Microstrategy Inc, Vienna, VA 22182 USA

来源：

SYSTEMS & CONTROL LETTERS | 2003年 / 49卷 / 02期

关键词：

attitude control; inclinometers; Modified Rodrigues Parameters; output feedback; low-cost gyros;

D O I：

10.1016/S0167-6911(02)00320-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In our paper, we consider the state regulation problem for the nonlinear kinematic equations and Euler equations of a rigid body observed under low-pass sensors. This problem is motivated by the corresponding state estimation problem covered in recent literature on walking robots and virtual reality gadgets. We show the existence of an asymptotically stabilizing feedback controller for the dynamics that provides reliable performance. (C) 2002 Elsevier Science B.V. All rights reserved.

引用

页码：151 / 159

页数：9