On Angular Speed Estimation of Rigid Bodies

Hybrid attitude tracking of rigid bodies without angular velocity measurement

In this paper we address the problem of output-feedback attitude control of a rigid body in quaternion-coordinate space through a hybrid (switching) PD+ based tracking controller; we establish stability for all initial values in a compact subset which may be arbitrarily enlarged by increasing the control gains. Assumptions used in the literature such as supposing that the initial states lay in ...

Computational Geometric Mechanics, Control, and Estimation of Rigid Bodies

Geometric mechanics involves the application of geometric and symmetry techniques to the study of Lagrangian or Hamiltonian mechanics. The goal of computational geometric mechanics is to construct computational algorithms which preserve the geometric properties of mechanical systems [1]. My research is focused on developing computational geometric methods for numerical integration, optimal cont...

Drift-free attitude estimation for accelerated rigid bodies

In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particular attention is paid to the large and abrupt changes in accelerations that can be expected in such an environment. We propose a state estimation algorithm that fuses data from rate gyros and accelerometers to give lon...

Instantaneous angular speed estimation for multi-stage wind turbine gearboxes

Simulating hard rigid bodies

Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in condensed matter. The next level of description is to consider particles as rigid objects of generic shape, which would enrich the possible phenomenology enormo...