Attitude Control of Rigid Body Dynamics From Biased IMU Measurements
Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of the 46th IEEE Conference on Decision and Control 2007|
|01_Pounds_Attitude_Control_of_Rigid_Body_2007.pdf||1.75 MB||Adobe PDF||Request a copy|
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