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This paper studies the attitude and position estimation problem of a rigid body equipped with inertial and magnetic sensors. First a continuous-time model is provided linking the motion of the body and sensor measurements, which depend on the total magnetic field and measurement noise. The magnetic field may depend both on the space variable (since the indoor navigation is considered) and on the time...
We consider control systems for which we know two stabilizing output feedback controllers. One is globally asymptotically stabilizing, while the other one is only locally asymptotically stabilizing. We look for a composite output feedback control law that is equal to the local feedback on a neighborhood of the origin and that is globally asymptotically stabilizing. Since we want some robustness with...
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