0000000000307124
AUTHOR
Filippo D’ippolito
A hybrid observer for localization from noisy inertial data and sporadic position measurements
We propose an asymptotic position and speed observer for inertial navigation in the case where the position measurements are sporadic and affected by noise. We cast the problem in a hybrid dynamics framework where the continuous motion is affected by unknown continuous-time disturbances and the sporadic position measurements are affected by discrete-time noise. We show that the peculiar hybrid cascaded structure describing the estimation error dynamics is globally finite-gain exponentially ISS with gains depending intuitively on our tuning parameters. Experimental results, as well as the comparison with an Extended Kalman Filter (EKF), confirm the effectiveness of the proposed solution with…
Supplemental Material, sj-pdf-1-arx-10.1177_1729881421996974 - Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation
Supplemental Material, sj-pdf-1-arx-10.1177_1729881421996974 for Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation by Francesco Alonge, Filippo D’Ippolito, Adriano Fagiolini, Giovanni Garraffa and Antonino Sferlazza in International Journal of Advanced Robotic Systems