Abstract The quaternion is a powerful and common tool to avoid singularity in rotational dynamics three-dimensional (3D) space. Here it has been particularly used as an alternative Euler angles rotation matrix. application of the exercised quadrotor modeling control. It changes represents singularity-free attitude model. for first time (for best knowledge authors), state-dependent differential ...

Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present in this paper a method for solving the sensor network attitude problem using quaternion formalism which allows to apply linear algebra tools. The proposed al...

We present the three main mathematical constructs used to represent the attitude of a rigid body in threedimensional space. These are (1) the rotation matrix, (2) a triple of Euler angles, and (3) the unit quaternion. To these we add a fourth, the rotation vector, which has many of the benefits of both Euler angles and quaternions, but neither the singularities of the former, nor the quadratic ...

With a focus on investigations in the area of overactuated spacecraft, a new high-performance robust three-axis finite-time attitude control approach, which is organized in connection with the quaternion based estimation scheme is proposed in the present research with respect to state-of-the-art. The approach proposed here is realized based upon double closed loops to deal with the angular rate...

Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback i...

A quaternion-based attitude synchronization tracking problem is treated for satellite formation flying without using absolute and relative angular velocity measurements. More specifically, an adaptive control based output feedback attitude synchronization tracking control law is first developed under the requirement of communication links between each satellite in formation and the desired traj...

This paper contains a critical comparison of estimators minimizing Wahba’s loss function. Some new results are presented for the QUaternion ESTimator (QUEST) and EStimators of the Optimal Quaternion (ESOQ and ESOQ-2) to avoid the computational burden of sequential rotations in these algorithms. None of these methods is as robust in principle as Davenport’s q-method or the Singular Value Decompo...

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult pr...

In this paper, a star tracker attitude estimation procedure with increased robustness and efficiency, using the AIM (Attitude Estimation using optimal Image Matching) algorithm, is presented and validated. The unique approach of the AIM algorithm allows us to introduce a reliable quality check which can be efficiently calculated. Unlike existing validation methods, this quality check not only d...