Trumpf, Jochen; Mahony, Robert; Hamel, Tarek; Lageman, Christian
This paper provides a comprehensive stability analysis of a suite of nonlinear attitude observers that have been developed over the last few years. The observers considered are based on vectorial measurements of an a priori known reference direction. By treating the reference direction and the measurement in the same analysis framework, and allowing time-variation of either, we are able to define general persistency of excitation criteria that incorporate and generalize convergence criteria...[Show more]
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.