An almost global estimator on SO(3) with measurement on S2

An almost global estimator on SO(3) with measurement on S2

This paper presents an almost globally convergent state estimator for the orientation of a rotating rigid body. The estimator requires knowledge of the angular velocity of the body at each time instant and the measurement consists of a single unit vector on the body, which we take without loss of ge...

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Hauptverfasser: Swensen, J. P., Cowan, N. J.
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Sprache:eng
Schlagworte:
Convergence
Kinematics
Needles
Observers
Rotation measurement
Vectors
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description This paper presents an almost globally convergent state estimator for the orientation of a rotating rigid body. The estimator requires knowledge of the angular velocity of the body at each time instant and the measurement consists of a single unit vector on the body, which we take without loss of generality to be the first column of the rotation matrix. The stability proof involves a relatively simple Lyapunov and invariance-like analysis. A mild non-degeneracy constraint on the control input guarantees the fulfillment of the invariance criterion. We apply the result to needle-tip orientation estimation for tip-steerable needles.
doi_str_mv 10.1109/ACC.2012.6315375
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J.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Swensen, J. P.</au><au>Cowan, N. J.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>An almost global estimator on SO(3) with measurement on S2</atitle><btitle>2012 American Control Conference (ACC)</btitle><stitle>ACC</stitle><date>2012-06</date><risdate>2012</risdate><spage>1780</spage><epage>1786</epage><pages>1780-1786</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>9781457710957</isbn><isbn>1457710951</isbn><eisbn>9781467321020</eisbn><eisbn>9781457710940</eisbn><eisbn>1467321028</eisbn><eisbn>145771096X</eisbn><eisbn>1457710943</eisbn><eisbn>9781457710964</eisbn><abstract>This paper presents an almost globally convergent state estimator for the orientation of a rotating rigid body. The estimator requires knowledge of the angular velocity of the body at each time instant and the measurement consists of a single unit vector on the body, which we take without loss of generality to be the first column of the rotation matrix. The stability proof involves a relatively simple Lyapunov and invariance-like analysis. A mild non-degeneracy constraint on the control input guarantees the fulfillment of the invariance criterion. We apply the result to needle-tip orientation estimation for tip-steerable needles.</abstract><pub>IEEE</pub><doi>10.1109/ACC.2012.6315375</doi></addata></record>
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subjects Convergence
Kinematics
Needles
Observers
Rotation measurement
Vectors
title An almost global estimator on SO(3) with measurement on S2
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