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This brief proposes new algorithms for attitude estimation and control, based on fused inertial vector measurements using a linear complementary filters principle. First, $n$ -order direct and passive complementary filters combined with a TRIaxial Attitude Determination algorithm are proposed to give the attitude estimation solutions. These solutions that are efficient with respect to noise include...
This paper proposes simple and efficient algorithms for implementation of attitude estimation and control based on data fusion using complementary filters taking into account sensors dynamics. First of all, we propose a passive form of the filter by fusing the measured inertial vectors and the gyro measurements in order to reconstruct real inertial vectors which can be used with any algebraic algorithm...
In this paper a new method for attitude estimation of rigid body using line-based vision and a Multiplicative Extended Kaiman Filter (MEKF) is developed. A vision-based line-tracking algorithm that allows to detect and to track points and lines along sequence of images without drift is used. From this algorithm, we can get an implicit measure of the lines direction. The latter are then fused with...
This paper addresses the problem of estimation of attitude of accelerated rigid body vehicles moving in 3D-space using IMU and data related to measurement of velocity by GPS. We propose a new observer for attitude estimation based on proportional-integral (PI) compensator along with discontinuous switching function in the estimation of velocity to compensate the effect of linear acceleration. The...
In this paper, we propose an observer based on proportional-integral type sliding mode to estimate unknown bounded time varying input of a nonlinear dynamical system. Exponential convergence of the observer is demonstrated using Lyapunov theory. Then this observer is used in the attitude estimation algorithms of accelerated rigid-bodies. The proposed observer is able to estimate the unknown linear...
We propose a simple and efficient globally asymptotic attitude estimation solution in which complementary linear filters are combined with TRIAD algorithm. The solution leads to many possible combinations between the form of the filter (direct or passive) and its order. Lyapunov analysis results for the proposed direct and passive second order filters are addressed. Global asymptotic convergence of...
We present in this paper a new algorithm for attitude and gyro-bias estimation of a rigid body in rotation in space using low-cost sensors. The algorithm is based on sliding mode nonlinear observer that provides in the same time estimates of the gyro-bias and the actual attitude of the rigid body. This algorithm was developed in order to address the well-known problem of the weak dynamics of the attitude...
This paper presents a nonlinear observer algorithm for attitude estimation that improves the quality of measures obtained by using low-cost inertial measurements (IMU). It is based on sliding mode observer that provides both the estimates of the gyro-bias and the actual attitude of the rigid body. The algorithm was developed in order to address the well-known problem of the weak dynamics of the tilt...
In this paper an observer based on super-twisting algorithm is proposed to observe the states dynamics of a heavy vehicle and estimate its tire forces. For this application, a particular manoeuvre of cornering is chosen and a nonlinear dynamic model of tractor semi-trailer combination vehicle is developed for this case. The objective of vehicle dynamics observation is to improve the handling performance,...
The goal of this study consists to design of a control law in order to optimize the braking/traction force. To maximize this force, it must to localize the wheel slip which corresponds to the maximum tire road adhesion characteristic. In the strategy of the control proposed here, the wheel slip control reference is not imposed but this reference would be generated to reach the optimal wheel slip corresponding...
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