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Attitude control without angular velocity measurement: a passivity approach

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2 Author(s)
F. Lizarralde ; Dept. of Electr. Eng., Federal Univ. of Rio de Janeiro, Brazil ; J. T. Wen

It is well known that the linear feedback of the quaternion of the attitude error and the angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quaternion, thus removing the need for direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a model-based observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results

Published in:

IEEE Transactions on Automatic Control  (Volume:41 ,  Issue: 3 )