This paper derives an approach to combine estimates and covariances for decentralized attitude estimation using a quaternion parameterization. The approach is based on the covariance intersection method, which is modified to maintain quaternion normalization in the combination process. A practical simulation result is provided where local extended Kalman filters are used on two star trackers, e...

This paper studies the application of nonlinear cooperative control theory to the attitude synchronization problem. To this end, explicit conditions, in terms of vector nonlinear differential inequalities, is presented firstly to ensure both the Lyapunov stability and asymptotically cooperative stability for a certain class of heterogeneous nonlinear system. Then, decentralized control algorith...

The main contribution of this paper is the derivation of a model independent feedback control law that causes a rigid body to execute a near eigenaxis maneuver. The degree of approximation is a function of the control gains and the initial attitude error. Using passivity techniques, the dependence of the control strategy on velocity information is eliminated. The technique used to derive the co...

In this paper, we present the design of the Omnicopter, a micro aerial vehicle (MAV) with two central counter-rotating coaxial propellers for thrust and yaw control and three perimetermounted variable angle ducted fans to control roll and pitch. First, a dynamic model of the robot is established using the Euler-Lagrange formalism. Next, we focus on the attitude control for a special operating c...

In this paper a result on attitude tracking control of a micro satellite by integrator backstepping based on quaternion feedback is presented, and the controller is shown to render the system equilibrium point UGAS by application of the LaSalle-Yoshizawa theorem. This is a part of a study of possible control methods for the spacecraft ESEO, a spacecraft included in the SSETI project initiated b...

A quaternion-based nonlinear control strategy is here presented to steer and keep a generic multi-rotor platform in a given reference position. Exploiting a state feedback structure, the proposed solution ensures the stabilization of the aerial vehicle so that its linear and angular velocity are zero and its attitude is constant. The main feature of the designed controller is the identification...

Strapdown inertial navigation research involves the parameterization and computation of attitude, velocity, position a rigid body in chosen reference frame. The community has long devoted to finding most concise efficient representation for strapdown system (INS). current work is motivated by simplifying existing dual quaternion kinematic model. This article proposes compact elegant body's atti...

An integrated coupled control strategy for a servicing spacecraft autonomously approaching and docking with a freely tumbling target is studied. To implement capturing successfully, the docking port of the servicing spacecraft should be always pointing to the docking port of target during close rendezvous and docking, which involves proximity maneuvering of coupled position and attitude simulta...