Global Exponential Angular Velocity Observer for Rigid Body Systems

TL;DR

This paper introduces a globally exponentially stable hybrid angular velocity observer for rigid body systems on SO(3), ensuring reliable attitude estimation with proven stability and demonstrated effectiveness through simulations.

Contribution

The paper proposes a novel hybrid observer directly on SO(3) with global exponential stability, suitable for integration with controllers.

Findings

Observer achieves global exponential stability

Simulation confirms effectiveness in attitude stabilization

Suitable for controller-observer separation

Abstract

We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a controller-observer combination with a guaranteed separation property. Simulation results are provided to demonstrate the effectiveness of the proposed hybrid observer as a part of an attitude stabilization scheme.