By Topic

Position and Velocity Navigation Systems for Unmanned Vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Batista, P. ; Inst. for Syst. & Robot., Lisbon ; Silvestre, C. ; Oliveira, P.

This brief presents a new observer synthesis methodology for a class of kinematic systems with application to the estimation of linear motion quantities of mobile platforms (position and linear velocity), in three dimensions, that: 1) presents globally exponentially stable (GES) error dynamics, which are also input-to-state stable (ISS) with respect to angular quantities; 2) minimizes the L 2 induced norm from a generalized disturbance input to a performance variable; 3) provides a systematic design procedure, based upon robust control theory results, that allows for the use of frequency weights to shape the dynamic response of the observer. A practical application is presented, in the field of ocean robotics, that demonstrates the potential and usefulness of the proposed design methodology and simulation results are included that illustrate the observer achievable performance in the presence of both extreme environmental disturbances and realistic sensors' noise.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:17 ,  Issue: 3 )