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Attitude control without angular velocity measurement: a passivity approach

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

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

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