6 papers · 1 filter
Geometrization of Higher-Order Linear Control Laws for Attitude Control on
Farooq Aslam, Hafiz Zeeshan Iqbal Khan, Muhammad Farooq Haydar +2
This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\math…
Geometric Nonlinear Filtering with Almost Global Convergence for Attitude and Bias Estimation on the Special Orthogonal Group
Farooq Aslam, Muhammad Farooq Haydar, Suhail Akhtar
This paper proposes a novel geometric nonlinear filter for attitude and bias estimation on the Special Orthogonal Group using matrix measurements. The structure of the prop…
Rigid-Body Attitude Control on using Nonlinear Dynamic Inversion
Hafiz Zeeshan Iqbal Khan, Farooq Aslam, Muhammad Farooq Haydar +1
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the ro…
Nonlinear Filtering on the Special Orthogonal Group using Vector Directions
Farooq Aslam, Muhammad Farooq Haydar
The problem of filtering for attitude estimation using rotation matrices and vector measurements is studied. Starting from a storage function on the Special Orthogonal…
Robust Stability Analysis of an Uncertain Aircraft Model with Scalar Parametric Uncertainty
Farooq Aslam, Fatima Shoaib, Hafiz Zeeshan Iqbal Khan +2
A robust controller is specified, and the stability bounds of the uncertain closed-loop system are determined using the small gain, circle, positive real, and Popov criteria. A gra…
Inverse Optimal Attitude Tracking on the Special Orthogonal Group
Farooq Aslam, M. Farooq Haydar
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and disturbance attenuation. Conditions…