Estimation and Non Linear Observer of the Attitude of a Robot via Quaternion
نویسندگان
چکیده
Generally, the attitude estimation and the measurement of the angular velocity are a requirement for the attitude control. As a result, the computational cost and the complexity of the control loop are relatively high. In the present paper, a technique for attitude stabilization is proposed; the technique proposed is designed with attitude estimation based in data fusion of an Attitude and Heading Reference System AHRS. With this approach, only the measurements of at least two non collinear directional sensors are needed. Since the control laws are highly simple and a model based in an observer for angular velocity reconstruction is not needed, the proposed new strategy is very suitable for embedded implementations. The global convergence of the estimation techniques is proved. Simulations with some robustness tests are performed.
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