Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group

Alireza Khosravian

doi:10.1109/CDC.2013.6760683

Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group

Alireza Khosravian^*

^*Corresponding author for this work

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

1 Citation (Scopus)

Abstract

In this paper, we investigate the effect of nonideal sensor measurements on the performance of a nonlinear attitude estimator. Bounded deterministic disturbances are considered in both vector measurements and angular velocity reading. We derive conditions under which the practical stability of estimator is guaranteed and present an upperbound for the steady state attitude estimation error. We also consider the problem of minimizing the ultimate bound of estimation error by proper choice of constant observer gains according to the properties of vector measurements. A key contribution of the paper is to propose a set of Linear Matrix Inequalities which result in the near optimal observer gains in a sense that they minimize the ultimate bound of estimation error. Meanwhile a case study, some interesting results of the optimization procedure are also discussed which provide a greater insight into the problem.

Original language	English
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5060-5065
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6760683
Publication status	Published - 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013

Publication series

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

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	10/12/13 → 13/12/13

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10.1109/CDC.2013.6760683

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Khosravian, A. (2013). Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 5060-5065). Article 6760683 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760683

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title = "Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group",

abstract = "In this paper, we investigate the effect of nonideal sensor measurements on the performance of a nonlinear attitude estimator. Bounded deterministic disturbances are considered in both vector measurements and angular velocity reading. We derive conditions under which the practical stability of estimator is guaranteed and present an upperbound for the steady state attitude estimation error. We also consider the problem of minimizing the ultimate bound of estimation error by proper choice of constant observer gains according to the properties of vector measurements. A key contribution of the paper is to propose a set of Linear Matrix Inequalities which result in the near optimal observer gains in a sense that they minimize the ultimate bound of estimation error. Meanwhile a case study, some interesting results of the optimization procedure are also discussed which provide a greater insight into the problem.",

author = "Alireza Khosravian",

year = "2013",

doi = "10.1109/CDC.2013.6760683",

language = "English",

isbn = "9781467357173",

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

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

pages = "5060--5065",

booktitle = "2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013",

address = "United States",

note = "52nd IEEE Conference on Decision and Control, CDC 2013 ; Conference date: 10-12-2013 Through 13-12-2013",

}

Khosravian, A 2013, Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6760683, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 5060-5065, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10/12/13. https://doi.org/10.1109/CDC.2013.6760683

Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group. / Khosravian, Alireza.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 5060-5065 6760683 (Proceedings of the IEEE Conference on Decision and Control).

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

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AB - In this paper, we investigate the effect of nonideal sensor measurements on the performance of a nonlinear attitude estimator. Bounded deterministic disturbances are considered in both vector measurements and angular velocity reading. We derive conditions under which the practical stability of estimator is guaranteed and present an upperbound for the steady state attitude estimation error. We also consider the problem of minimizing the ultimate bound of estimation error by proper choice of constant observer gains according to the properties of vector measurements. A key contribution of the paper is to propose a set of Linear Matrix Inequalities which result in the near optimal observer gains in a sense that they minimize the ultimate bound of estimation error. Meanwhile a case study, some interesting results of the optimization procedure are also discussed which provide a greater insight into the problem.

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EP - 5065

BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 52nd IEEE Conference on Decision and Control, CDC 2013

Y2 - 10 December 2013 through 13 December 2013

ER -

Stability analysis and near optimal gain tuning of an attitude estimator on the special orthogonal group

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