✦ LIBER ✦
Rigid body attitude control with inclinometer and low-cost gyro measurements
✍ Scribed by Maruthi R. Akella; James T. Halbert; Gnana R. Kotamraju
- Publisher
- Elsevier Science
- Year
- 2003
- Tongue
- English
- Weight
- 228 KB
- Volume
- 49
- Category
- Article
- ISSN
- 0167-6911
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✦ Synopsis
In our paper, we consider the state regulation problem for the nonlinear kinematic equations and Euler equations of a rigid body observed under low-pass sensors. This problem is motivated by the corresponding state estimation problem covered in recent literature on walking robots and virtual reality gadgets. We show the existence of an asymptotically stabilizing feedback controller for the dynamics that provides reliable performance.