A Robust Estimator for Almost Global Attitude Feedback Tracking

@inproceedings{Sanyal2010ARE,
  title={A Robust Estimator for Almost Global Attitude Feedback Tracking},
  author={Amit K. Sanyal and Nikolaj Nordkvist},
  year={2010}
}
This article presents a robust and almost global feedback attitude tracking control scheme in conjunction with a robust deterministic estimator that constructs state estimates for feedback. These control and the estimation schemes use the natural and globally unique representation of rigid body attitude provided by rotation matrices. Attitude and angular velocity state estimates are constructed from discrete (possibly multi-rate) measurements and a deterministic filtering scheme. Computational… CONTINUE READING

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