Distributed event-triggered attitude estimation without angular velocity measurements

Publikationstyp
Journal Article
Date Issued
2025-05-16
Sprache
English
Author(s)
Li, Shanshan
Jin, Xin  
Li, Yichun
Li, Fangfei
Werner, Herbert  
Regelungstechnik E-14  
Tang, Yang  
TORE-URI
https://hdl.handle.net/11420/55759
Journal
IEEE Transactions on Control of Network Systems  
Citation
EEE Transactions on Control of Network Systems (in Press): (2025)
Publisher DOI
10.1109/TCNS.2025.3570827
Scopus ID
2-s2.0-105005456354
Publisher
IEEE
In this paper, a distributed event-triggered attitude estimation problem is considered for multiple rigid body systems on SO(3). The error in attitude estimation converges asymptotically to a common orientation among multiple rigid body systems, based on relative attitude measurements under undirected graphs. To eliminate the reliance on direct angular velocity measurements, a cascaded estimation scheme is proposed, employing indirected angular velocity estimation through a single vector measurement that is readily accessible using accelerometers or magnetometers. An event-triggered condition (ETC), grounded in clock variables, is proposed to reduce the communication and computation requirements associated with the attitude estimation. Subsequently, a rigorous convergence analysis of the attitude estimation errors is conducted, relying upon a stability criteria of invariant sets for cascade-connected systems. Furthermore, a self-triggered condition is developed to overcome the challenge of continuous monitoring throughout the event detection process. Ultimately, the efficacy of the proposed framework is validated through a numerical simulation encompassing multiple small satellites.
Subjects
Angular velocity estimation | cooperative attitude estimation | event-triggered | multiple rigid body systems
DDC Class
600: Technology