Angular Velocity Observer for Attitude Tracking on SO(3) with the Separation Property

다국어 초록 (Multilingual Abstract)

This paper studies a rigid body attitude tracking control problem with attitude measurements only, whenangular velocity measurements are not available. An angular velocity observer is constructed such that the estimatedangular velocity is guaranteed to converge to the true angular velocity asymptotically from almost all initialestimates. As it is developed directly on the special orthogonal group, which completely avoids singularities, complexities,or discontinuities caused by minimal attitude representations or quaternions. Then, the presented observeris integrated with a proportional-derivative attitude tracking controller to show a separation type property, whereexponential stability is guaranteed for the combined observer and attitude control system.

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