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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., COPPE/UFRJ, Rio de Janeiro, Brazil ; J. T. Wen

It is well known that the linear feedback of the quarternion of the attitude error and 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 quarternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic 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:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995