Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)

  title={Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)},
  author={Hashim A. Hashim and Lyndon J. Brown and Kenneth A. McIsaac},
  journal={IEEE Access},
This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group $\mathbb {SO}\left ({3}\right)$ , able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is trapped to initially start within a large set and converge systematically and asymptotically to the origin from almost any initial condition. The convergence rate is guaranteed to be less than the… 
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