Attitude Control and Estimation
The research project on attitude control and estimation covers methods for quaternion and Euler-angle feedback with applications to marine craft and aircraft. Attitude estimation on SO(3) using nonlinear observer theory is also covered.
Fig 1. UAV attitude control.
Fig 2. The 3-D rotation group SO(3). Maschen, Wikimedia Commons.
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References
- Bryne, T. H, R. H. Rogne, T. I. Fossen and T. A. Johansen (2016). Attitude and Heave Determination on Ships using MEMS-based Inertial Measurements. 10th IFAC Conference on Control Applications in Marine Systems (CAMS), 568-575.
Open Access doi.org/10.1016/j.ifacol.2016.10.496 - Coates, E. M. and T. I. Fossen (2021). Geometric Reduced-Attitude Control of Fixed-Wing UAVs. Applied Sciences 11(7), 1-35.
Open Access doi.org/10.3390/app11073147 - Coates, E. M. L., D. P. Reinhardt and T. I. Fossen (2021). Reduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphere. IFAC World Congress, 5749-5756.
Open Access doi.org/10.1016/j.ifacol.2020.12.1606 - Fjellstad, O.-E. and T. I. Fossen (1994). Position and Attitude Tracking of AUVs: A Quaternion Feedback Approach. IEEE Journal of Oceanic Engineering 19(4), 512-518.
doi.org/10.1109/48.338387 - Fjellstad, O.-E. and T. I. Fossen (1994). Comments on "The Attitude Control Problem. IEEE Transactions on Automatic Control 39(3), 699-700.
doi.org/10.1109/9.280793 - Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2015). Globally Exponentially Stable Attitude and Gyro Bias Estimation with Application to GNSS/INS Integration. Automatica 51, 158–166.
Preprint doi.org/10.1016/j.automatica.2014.10.076 - Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2012). Attitude Estimation Using Biased Gyro and Vector Measurements with Time-Varying Reference Vector. IEEE Transactions on Automatic Control 57 (5), 1332-1338.
Preprint doi.org/10.1109/TAC.2011.2173415 - Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2013). Nonlinear Observer for GNSS-Aided Inertial Navigation with Quaternion-Based Attitude Estimation. American Control Conference (ACC), 272-279.
Preprint doi.org/10.1109/ACC.2013.6579849 - Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2011). Attitude Estimation Based on Time-Varying Reference Vectors with Biased Gyro and Vector Measurements. 18th IFAC World Congress, 8497-8502.
Open Access doi.org/10.3182/20110828-6-IT-1002.01051 - Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2016). Nonlinear Observer for Attitude, Position and Velocity: Theory and Experiments. In: Fourati, H. and D. C. Belkhia (eds.). Multisensor Attitude Estimation. CRC Press, 291-314.
- Jørgensen, E. K., T. I Fossen, T. H. Bryne and I. Scjølberg (2020). Underwater Position and Attitude Estimation Using Acoustic, Inertial and Depth Measurements. IEEE Journal of Oceanic Engineering 45(4), 1450-1465.
Preprint doi.org/10.1109/JOE.2019.2933883 - Jørgensen, E. K., T. I. Fossen, I. Schjølberg and P. T. T. Esperanca (2018). Experimental Validation of Attitude and Rate-Sensor Bias Filter using Range-Difference Measurements. Control Engineering Practice 73, 112-123.
Preprint doi.org/10.1016/j.conengprac.2018.01.002 - Rogne, R. H., T. A. Johansen and T. I. Fossen (2015). On Attitude Observers in Inertial Navigation Based Fault Detection and Isolation in Dynamic Positioning. European Control Conference (ECC), 3665-3672.
Preprint doi.org/10.1109/ECC.2015.7331100 - Rogne, R. H., T. H. Bryne, T. A. Johansen and T. I. Fossen. (2016). Fault Detection in Lever-arm-compensated Position References System based on Attitude Estimates and Inertial Measurements in Dynamic Positioning. American Control Conference (ACC), 985-992.
Preprint doi.org/10.1109/ACC.2016.7525043 - Stovner, B. N., T. A. Johansen, T. I. Fossen and I. Schjølberg (2018). Attitude Estimation by Multiplicative eXogenous Kalman Filter. Automatica 95, 347-355.
Preprint doi.org/10.1016/j.automatica.2018.05.038 - Vik, B. and Thor I. Fossen (1999). A Nonlinear Observer for Integration of GPS and INS Attitude. 12th International Technical Meeting of the Satellite Division of The Institute of Navigation, 2027-2032.
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