This paper proposes a deterministic estimator for the estimation of the attitude of a rigid body. A deterministic estimator uses a minimal set of information and does not try to minimize a cost function or fit the measurements into a stochastic process. The proposed estimator obtains the attitude estimation utilizing only the properties of the rotational group SO(3). The information set required by the proposed estimator is a single vector information and rate gyro readings. For systems in which one of the rotational freedom is constrained, the proposed estimator provides an accurate estimate of the reduced attitude. The performance of the algorithm is verified on different experimental testbeds. © 1996-2012 IEEE.

Arun D. Mahindrakar

Department of Electrical Engineering

Sandipan Bandyopadhyay

Department of Engineering Design

Algorithms

Cost functions

Random processes

Stochastic systems

Units of measurement

Attitude estimation

Deterministic algorithms

DETERMINISTIC ATTITUDE ESTIMATION

EXPERIMENTAL TESTBED

Inertial measurement unit

information set

ROTATIONAL FREEDOM

SPECIAL ORTHOGONAL GROUP

Gyroscopes

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

A Deterministic Attitude Estimation Using a Single Vector Information and Rate Gyros

IEEE/ASME Transactions on Mechatronics

The mobile inverted pendulum (MIP) is a mechanical system that presents multiple control challenges. In particular, two objectives, namely desired position control and stabilization of the unstable pendulum-like central body, need to be simultaneously met. In this brief, we propose a novel smooth time-invariant controller to achieve the twin objectives. A feature of the controller design is that it readily extends to achieve waypoint tracking, another interesting task for mobile platforms. To validate the theory developed, an MIP has been indigenously designed and fabricated. Extensive experiments on the MIP have been performed. It has been observed that the system accomplishes position stabilization as well as waypoint tracking with negligible error. © 2012 IEEE.

IEEE Transactions on Control Systems Technology

Position stabilization and waypoint tracking control of mobile inverted pendulum robot

2013 IEEE International Conference on Robotics and Automation

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Rigid-Body Attitude Control

Journal	Data powered by TypesetIEEE/ASME Transactions on Mechatronics
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
ISSN	10834435
Open Access	No