Asymptotically Stable Observer-based Controller for Attitude Tracking with Systematic Convergence

TL;DR

This paper introduces a computationally efficient observer-based controller for attitude tracking using unit-quaternions, guaranteeing asymptotic stability and robust performance without requiring angular velocity measurements.

Contribution

A novel observer-based controller on $\

Findings

Guarantees asymptotic stability of attitude and angular velocity errors.

Operates effectively with low-cost IMU or MARG sensors.

Demonstrates robustness and effectiveness in simulations.

Abstract

This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can operate based on measurements provided, for instance by a typical low-cost inertial measurement unit (IMU) or magnetic, angular rate, and gravity (MARG) sensor without the knowledge of angular velocity. First, an observer evolved on $\mathbb{S}^{3}\times\mathbb{R}^{3}$ is developed guaranteeing asymptotic stability of the closed loop error signals starting from any initial condition. Afterwards, the observer is combined with the proposed controller such that the observer-based controller ensures asymptotic stability of the closed loop error signals starting from any initial condition. Simulation performed in discrete form at low sampling rate reveals the robustness and effectiveness of the proposed approach. Keywords: Observer-based controller, attitude, estimation, control, MARG, IMU, asymptotic stability.