Attitude Control without Angular Velocity Measurement: A Passivity Approach
نویسندگان
چکیده
It is well known that the linear feedback of the quar-ternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear lter of the quaternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.
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