W. Fermín Guerrero-Sánchez

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This paper deals with the development and implementation of a cheap Micro Attitude and Heading Reference System (AHRS) using low-cost inertial and magnetic sensors. The orientation is parameterized with unit quaternion and the data fusion is done unifying a quaternion linear formulation of Wahba's problem with a Multiplicative Extended Kalman Filter. It(More)
Contrary to the classical (time-triggered) principle that calculates the control signal in a periodic fashion, an event-driven control is computed and updated only when a certain condition is satisfied. This notably enables to save computations in the control task while ensuring equivalent performance. In this paper, we develop and implement such strategies(More)
This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can break up into two passive(More)
This paper deals with the attitude estimation of a rigid body equipped with a module of GAM sensors (rate gyros, accelerometers and magnetometers). A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the error dynamics can break up into two passive(More)
The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely(More)
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