Globally Asymptotically Stable Attitude Observer on SO(3)
Globally Asymptotically Stable Attitude Observer on SO(3)
复制标题
SO(3) 上的全局渐近稳定姿态观测器
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Taeyoung Lee
中科院分区：
文献类型：
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作者：
Tse;Evan Kaufman;Taeyoung Lee
针对刚体姿态动力学问题，提出了一种全局渐近稳定的确定性混合观测器。任何光滑的姿态观测器都受到其固有的拓扑限制，不可能达到全局吸引性。结果表明，这样的姿态观测器可能会产生非常缓慢的初始收敛速度，并出于这一动机，我们提出了一种混合姿态观测器，保证全局渐近稳定的特殊正交群。这是表现出显着改善的收敛速度均匀通过数值例子。
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is impossible to achieve global attractivity. It is illustrated that such attitude observers may yield very slow initial convergence rates, and motivated by this, we propose a hybrid attitude observer that guarantees global asymptotic stability on the special orthogonal group. This is shown to exhibit substantially improved convergence rate uniformly via numerical examples.