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Attitude control of rigid body dynamics from biased IMU measurements

Attitude control of rigid body dynamics from biased IMU measurements,10.1109/CDC.2007.4434173,Paul Pounds,Tarek Hamel,Robert Mahony

Attitude control of rigid body dynamics from biased IMU measurements   (Citations: 4)
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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 control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.
Conference: Conference on Decision and Control - CDC , pp. 4620-4625, 2007
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