Hashim A Hashim - 2021 Observer Based Controller Attitude Tracking Quaternion Based IEEE Conference скачать в хорошем качестве

Hashim A Hashim - 2021 Observer Based Controller Attitude Tracking Quaternion Based IEEE Conference

To share this video:    • Hashim A Hashim - 2021 Observer Based Cont...   Twitter:   / h_a_hashim   Linkedin:   / h-a-hashim   Facebook:   / hashimedutech   -------------------------------------------------------------------------------- H. A. Hashim, "Asymptotically Stable Observer-based Controller for Attitude Tracking with Systematic Convergence," In Proc. of the 2021 IEEE 25th International Conference on System Theory, Control and Computing (ICSTCC'20), Iasi, Romania, pp. 1-7, 2021. URL: https://doi.org/10.1109/euca.STCC21.9... PDF arXiv: http://arxiv.org/abs/2109.01937 This work was supported in part by Thompson Rivers University Internal research fund, RGS-2020/21 IRF. -------------------------------------------------------------------------------- This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can operate based on measurements provided, for instance by a typical low-cost inertial measurement unit (IMU) or magnetic, angular rate, and gravity (MARG) sensor without the knowledge of angular velocity. First, an observer developed guaranteeing asymptotic stability of the closed loop error signals starting from any initial condition. Afterwards, the observer is combined with the proposed controller such that the observer-based controller ensures asymptotic stability of the closed loop error signals starting from any initial condition. Simulation performed in discrete form at low sampling rate reveals the robustness and effectiveness of the proposed approach.