25,612 research outputs found
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
Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space
A nonlinear observer on the Special Euclidean group for full
pose estimation, that takes the system outputs on the real projective space
directly as inputs, is proposed. The observer derivation is based on a recent
advanced theory on nonlinear observer design. A key advantage with respect to
existing pose observers on is that we can now incorporate in a
unique observer different types of measurements such as vectorial measurements
of known inertial vectors and position measurements of known feature points.
The proposed observer is extended allowing for the compensation of unknown
constant bias present in the velocity measurements. Rigorous stability analyses
are equally provided. Excellent performance of the proposed observers are shown
by means of simulations
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
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