Attitude Estimation and Control Using Linear-Like Complementary Filters: Theory and Experiment

This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD algorithm are proposed to give attitude estimation solutions. These solutions which are efficient with respect to noise include the gyro bias estimation. Thereafter, the same principle of data fusion is used to address the problem of attitude tracking based on inertial vector measurements. Thus, instead of using noisy raw measurements in the control law a new solution of control that includes a linear-like complementary filter to deal with the noise is proposed. The stability analysis of the tracking error dynamics based on LaSalle's invariance theorem proved that almost all trajectories converge asymptotically to the desired equilibrium. Experimental results, obtained with DIY Quad equipped with the APM2.6 auto-pilot, show the effectiveness and the performance of the proposed solutions.Comment: Submitted for Journal publication on March 09, 2015. Partial results related to this work have been presented in IEEE-ROBIO-201

Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV

An extended Kalman filter (EKF) is developed on the special Euclidean group, SE(3) for geometric control of a quadrotor UAV. It is obtained by performing an extensive linearization on SE(3) to estimate the state of the quadrotor from noisy measurements. Proposed estimator considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion. The desirable features of the proposed EKF are illustrated by numerical examples and experimental results for several scenarios. The proposed estimation scheme on SE(3) has been unprecedented and these results can be particularly useful for aggressive maneuvers in GPS denied environments or in situations where parts of onboard sensors fail.Comment: arXiv admin note: text overlap with arXiv:1304.6765, arXiv:1411.298

Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions

A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme