Exponentially convergent angular velocity estimator design for rigid body motion:a singular perturbation approach

作     者：Xiuhui PENG Zhiyong GENG Xiuhui PENG;Zhiyong GENG

作者机构：State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2020年第63卷第2期

页      面：224-226页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 081102[工学-检测技术与自动化装置] 0811[工学-控制科学与工程] 

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61773024  61374033) 

主　　题：Exponentially convergent angular velocity estimator design for rigid body motion:a singular perturbation approach Lyapunov 

摘      要：Dear editor,The exponentially convergent angular velocity estimator on SO(3) is of great importance for the control of rigid body [1]. Based on the idea of adaptive technique, the angular velocity observer on SO(3) was firstly proposed in [2]. Refs.[3, 4]and references therein mainly focus on constructing different attitude error functions to improve convergence rate. In those studies, based on