We review the main design techniques of state observer design for continuous-time
dynamical systems, namely algorithms which reconstruct online the full information of a …

Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

The technology of hydrodynamic modeling and marine craft motion control systems has
progressed greatly in recent years. This timely survey includes the latest tools for analysis …

This paper considers the problem of obtaining good attitude estimates from measurements
obtained from typical low cost inertial measurement units. The outputs of such systems are …

This paper considers the question of using a nonlinear complementary filter for attitude
estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a …

It is well known that controlling the attitude of a rigid body is subject to topological
constraints. We illustrate, with examples, the problems that arise when using continuous and …

This paper studies a tracking control system for the attitude dynamics of a rigid body. By
selecting an attitude error function carefully, we show that the proposed control system …

This paper considers the problem of obtaining high quality attitude extraction and gyros bias
estimation from typical low cost intertial measurement units for applications in control of …

It is well known that the linear feedback of the quaternion of the attitude error and the
angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the …

In this note, we propose a quaternion-based dynamic output feedback for the attitude
tracking problem of a rigid body without velocity measurement. Our approach consists of …