@inproceedings{ac1f8b29d41d4774a3c35ba3092ea3fd,
title = "A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles.",
abstract = "Commercially viable aerial robotic vehicles require robust and e±cient, but low-cost attitude (vehicle orientation) stabilisation systems. A typical attitude stabilisation system employs a low-cost IMU and con-sists of an attitude estimator as well as an attitude controller. This paper proposes a coupled non-linear attitude estimation and control design for the atti-tude stabilisation of low-cost aerial robotic vehicles. Attitude estimation is based on a non-linear comple-mentary filter expressed on the rotation group. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics. The interaction terms are bounded in terms of estima-tion and control errors and the full coupled system is shown to be (almost) globally stable.",
author = "Robert Mahony and Cha, {Sung Han} and Tarek Hamel",
year = "2006",
language = "English",
isbn = "9780958758383",
series = "Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006",
booktitle = "Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006",
note = "2006 Australasian Conference on Robotics and Automation, ACRA 2006 ; Conference date: 06-12-2006 Through 08-12-2006",
}