Global Exponential Angular Velocity Observer for Rigid Body Systems

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.

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