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Attitude Control of Rigid Body Dynamics From Biased IMU Measurements

Pounds, Paul; Hamel, Tarek; Mahony, Robert


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]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of the 46th IEEE Conference on Decision and Control 2007
DOI: 10.1109/CDC.2007.4434173


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