Attitude control of rigid body dynamics from biased IMU measurements

Paul Pounds; Tarek Hamel; Robert Mahony

doi:10.1109/CDC.2007.4434173

Attitude control of rigid body dynamics from biased IMU measurements

Paul Pounds^*, Tarek Hamel, Robert Mahony

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

28 Citations (Scopus)

Abstract

Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4620-4625
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434173
Publication status	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 12 Dec 2007 → 14 Dec 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 14/12/07

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10.1109/CDC.2007.4434173

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Pounds, P., Hamel, T., & Mahony, R. (2007). Attitude control of rigid body dynamics from biased IMU measurements. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 4620-4625). Article 4434173 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434173

@inproceedings{6b685570113046e69533f0de0358446d,

title = "Attitude control of rigid body dynamics from biased IMU measurements",

abstract = "Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.",

author = "Paul Pounds and Tarek Hamel and Robert Mahony",

year = "2007",

doi = "10.1109/CDC.2007.4434173",

language = "English",

isbn = "1424414989",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4620--4625",

booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",

address = "United States",

note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",

}

Pounds, P, Hamel, T & Mahony, R 2007, Attitude control of rigid body dynamics from biased IMU measurements. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434173, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4620-4625, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434173

Attitude control of rigid body dynamics from biased IMU measurements. / Pounds, Paul; Hamel, Tarek; Mahony, Robert.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 4620-4625 4434173 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Attitude control of rigid body dynamics from biased IMU measurements

AU - Pounds, Paul

AU - Hamel, Tarek

AU - Mahony, Robert

PY - 2007

Y1 - 2007

N2 - Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.

AB - Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.

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U2 - 10.1109/CDC.2007.4434173

DO - 10.1109/CDC.2007.4434173

M3 - Conference contribution

SN - 1424414989

SN - 9781424414987

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 4620

EP - 4625

BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 46th IEEE Conference on Decision and Control 2007, CDC

Y2 - 12 December 2007 through 14 December 2007

ER -

Attitude control of rigid body dynamics from biased IMU measurements

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