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A Robust Observer with Gyroscopic Bias Correction for Rotational Dynamics
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates.
Cooperative constrained motion coordination of networked heterogeneous vehicles
We develop a general framework involving differential-algebraic equations and viability theory to determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and different types of coordination task constraints.
Quadrotor Control on $SU(2)\times R^3$ with SLAM Integration
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$.
