A GLOBALLY CONVERGENT ANGULAR VELOCITY OBSERVER FOR RIGID BODY MOTION

被引：205

作者：

SALCUDEAN, S

机构：

[1] Department of Electrical Engineering, University of British Columbia, Vancouver

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 12期

关键词：

D O I：

10.1109/9.106169

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note presents a new nonlinear angular velocity/angular momentum observer for rigid body motion. Using Euler quaternions and a mechanical energy function approach, it is shown that the observer estimates converge globally and that the convergence is eventually exponential.

引用

页码：1493 / 1497

页数：5

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