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Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements

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]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2012.2195809


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