arXiv 2103.033102021-03eess.SYcs.SY

On Angular Speed Estimation of Rigid Bodies

Francesco Ferrante, Gildas Besançon

备注：: V1 is the extended version of the paper submitted to IEEE Control Systems Letters. V2 is the extended version of the paper accepted for publication. V3-V8 fix some minor oversights in the printed version of the paper and adds some additional technical details. Corrections with respect to the published version are colored in blue and there are footnotes explaining them
发表信息：: IEEE Control Systems Letters, Volume: 6, pages 1394-1399, 2022
DOI：: 10.1109/LCSYS.2021.3090034

英文摘要：

The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically simplifies the analysis of the proposed observer. Using Lyapunov analysis, sufficient conditions for global asymptotic stability of a set wherein the estimation error is equal to zero are established. In addition, the proposed methodology is adapted to deal with angular speed estimation for systems evolving on the unit circle. The approach is illustrated through several numerical simulations.

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