Abdelhamid Tayebi

Abdelhamid Tayebi

Lakehead University

H-index: 41

North America-Canada

Abdelhamid Tayebi Information

University

Lakehead University

Position

Professor EE Dept. / Western University Canada

Citations(all)

8385

Citations(since 2020)

2888

Cited By

7250

hIndex(all)

41

hIndex(since 2020)

27

i10Index(all)

111

i10Index(since 2020)

61

Email

University Profile Page

Lakehead University

Abdelhamid Tayebi Skills & Research Interests

Unmanned Aerial Vehicles

Robotics

Control

Top articles of Abdelhamid Tayebi

Hybrid feedback control design for non-convex obstacle avoidance

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least one safe path connecting the initial and the target location. An instrumental transformation that modifies (virtually) the non-convex obstacles, in a non-conservative manner, is introduced to facilitate the design of the obstacle-avoidance strategy. The proposed navigation approach relies on a hybrid feedback that guarantees global asymptotic stabilization of a target location while ensuring the forward invariance of the modified obstacle-free workspace. The proposed hybrid feedback controller guarantees Zeno-free switching between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the modified obstacle-occupied …

Authors

Mayur Sawant,Ilia Polushin,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2024/4/15

Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance

We propose a hybrid feedback control scheme for the autonomous robot navigation problem in three-dimensional environments with arbitrarily-shaped convex obstacles. The proposed hybrid control strategy, which consists in switching between the move-to-target mode and the obstacle-avoidance mode, guarantees global asymptotic stability of the target location in the obstacle-free workspace. We also provide a procedure for the implementation of the proposed hybrid controller in a priori unknown environments and validate its effectiveness through simulation results.

Authors

Mayur Sawant,Ilia Polushin,Abdelhamid Tayebi

Journal

arXiv preprint arXiv:2403.11279

Published Date

2024/3/17

Hybrid Feedback for Affine Nonlinear Systems with Application to Global Obstacle Avoidance

This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from the commonly used synergistic hybrid approaches. The key idea involves the construction of a generalized synergistic Lyapunov function whose switching variable can either remain constant or dynamically change between jumps. Based on this new hybrid mechanism, a generalized synergistic hybrid feedback control scheme, endowed with global asymptotic stability guarantees, is proposed. This hybrid control scheme is then improved through a smoothing mechanism that eliminates discontinuities in the feedback term. Moreover, the smooth hybrid feedback is further extended to a larger class of systems through the integrator backstepping approach. The proposed hybrid feedback …

Authors

Miaomiao Wang,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2024/3/1

Hybrid Feedback Control for Global and Optimal Safe Navigation

We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight to the target when it has a clear line-of-sight to the target location. Otherwise, it engages in an optimal obstacle avoidance maneuver via the shortest path inside the cone enclosing the obstacle and having the robot's position as a vertex. The switching strategy that avoids the undesired equilibria, leading to global asymptotic stability (GAS) of the target location, relies on using two appropriately designed virtual destinations, ensuring control continuity and shortest path generation. Simulation results illustrating the effectiveness of the proposed approach are presented.

Authors

Ishak Cheniouni,Soulaimane Berkane,Abdelhamid Tayebi

Journal

arXiv preprint arXiv:2402.17038

Published Date

2024/2/26

Safe and quasi-optimal autonomous navigation in sphere worlds

We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical obstacles. The main idea consists in avoiding each obstacle via the shortest path within the cone enclosing the obstacle, and moving straight towards the target when the vehicle has a clear line of sight to the target location. The proposed control strategy ensures safe navigation with almost global asymptotic stability of the equilibrium point at the target location. Simulation results, illustrating the effectiveness of the proposed approach, are presented.

Authors

Ishak Cheniouni,Abdelhamid Tayebi,Soulaimane Berkane

Published Date

2023/5/31

Distributed Attitude Estimation for Multi-agent Systems on

We consider the problem of distributed attitude estimation of multi-agent systems, evolving on , relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected tree. First, we propose a continuous nonlinear distributed attitude estimation scheme with almost global asymptotic stability guarantees. Thereafter, we proceed with the \textit{hybridization} of the proposed estimation scheme to derive a new hybrid nonlinear distributed attitude estimation scheme enjoying global asymptotic stabilization of the attitude estimation errors to a common constant orientation. In addition, the proposed hybrid attitude estimation scheme is used to solve the problem of formation estimation of -vehicles navigating in a three-dimensional space, with global asymptotic stability guarantees, where the only available measurements are the local relative bearings and the individual linear velocities. Simulation results are provided to illustrate the effectiveness of the proposed estimation schemes.

Authors

Mouaad Boughellaba,Abdelhamid Tayebi

Journal

arXiv preprint arXiv:2304.01928

Published Date

2023/4/4

Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements

This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid attitude observers on Lie group SO(3) are proposed. First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers.

Authors

Miaomiao Wang,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2023/12/25

Modeling of Four-Winged Micro Ornithopters Inspired by Dragonflies

In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid body components (wings) connected to the main body via spherical joints. The dynamical model is derived using Lagrangian mechanics with intrinsic global coordinates, without relying on the common assumptions that neglect the wings-body interactions. Furthermore, the aerodynamic forces are modeled under the quasi-steady motion assumption without restricting the flapping frequency to be relatively high. This provides a full and elegant four-winged micro ornithopter model that captures the interaction between the body and the wings while avoiding the complexities and singularities associated with other coordinate representations (e.g., Euler angles). Simulation studies of the inertial effects of the relative motion between the different …

Authors

Oussama Sifour,Soulaimane Berkane,Abdelhamid Tayebi

Journal

IFAC-PapersOnLine

Published Date

2023/1/1

Distributed Hybrid Attitude Estimation for Multi-agent Systems on SO (3)

We consider the problem of distributed attitude estimation of multi-agent systems, evolving on SO(3), relying on individual angular velocity and relative attitude measurements. We propose a nonlinear distributed hybrid attitude estimation scheme guaranteeing global asymptotic convergence of the attitude estimation errors to a common constant orientation, under an undirected, connected and acyclic graph topology. Moreover, in the presence of a leader in the group (knowing its absolute orientation), one can guarantee global asymptotic convergence of the attitude estimation errors to zero. Numerical simulation results are presented to illustrate the performance of our proposed scheme.

Authors

Mouaad Boughellaba,Abdelhamid Tayebi

Published Date

2023/5/31

New Results on Input-output Decoupling of Boolean Control Networks

We provide new necessary and sufficient conditions (with low computational complexity) for the input-output decoupling problem of Boolean control networks. Instrumental in our approach, the introduction of a new concept relying on the construction of some input-output-decoupling matrices that have to satisfy some conditions to ascertain whether a given Boolean control network is input-output decoupled. A numerical example is provided to illustrate our theoretical developments.

Authors

Yiliang Li,Hongli Lyu,Jun-e Feng,Abdelhamid Tayebi

Published Date

2023/12/13

State Feedback Control Design for Input-output Decoupling of Boolean Control Networks

A state feedback control strategy is proposed for input-output (IO) decoupling of a class of fully output controllable Boolean control networks (BCNs). Some necessary and sufficient conditions for BCN IO-decoupling are presented. As an instrumental tool in our design, we introduce a canonical form for IO-decoupled BCNs along with some conditions guaranteeing its existence. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed approach.

Authors

Yiliang Li,Hongli Lyu,Jun-e Feng,Abdelhamid Tayebi

Journal

arXiv preprint arXiv:2310.02731

Published Date

2023/10/4

Hybrid feedback for autonomous navigation in planar environments with convex obstacles

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global asymptotic stabilization of the robot toward a predefined target location while ensuring the forward invariance of the obstacle-free workspace. The main idea consists in designing an appropriate switching strategy between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the nearest obstacle. The proposed hybrid controller generates continuous velocity input trajectories when the robot is initialized away from the boundaries of the unsafe regions. Finally, we provide an algorithmic procedure for the sensor-based implementation of the proposed hybrid controller and validate its effectiveness through some …

Authors

Mayur Sawant,Soulaimane Berkane,Ilia Polushin,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2023/5/19

Safe and quasi-optimal autonomous navigation in environments with convex obstacles

We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path within the cone enclosing the obstacle and moving straight toward the target when the vehicle has a clear line of sight to the target location. In particular, almost global asymptotic stability of the target location is achieved in two-dimensional (2D) environments under a particular assumption on the obstacles configuration. We also propose a reactive (sensor-based) approach, suitable for real-time implementations in a priori unknown 2D environments with sufficiently curved convex obstacles, guaranteeing almost global asymptotic stability of the target location. Simulation results are presented to illustrate the effectiveness of the proposed approach.

Authors

Ishak Cheniouni,Soulaimane Berkane,Abdelhamid Tayebi

Journal

arXiv preprint arXiv:2308.13425

Published Date

2023/8/25

Comments on “Pose localization of leader–follower networks with direction measurements”[Automatica 120 (2020) 109125]

This note points out some flaws in the proof of Van Tran et al. (2020, Theorem 2). The proof relies on the results from Angeli and Praly (2011), which, unfortunately, cannot be directly applied in this case since the proposed distributed attitude observer leads to non-autonomous nominal error dynamics. We propose an alternative solution, with a rigorous stability proof, relying on some structural adjustments of the distributed attitude observer of Van Tran et al. (2020) leading to autonomous nominal error dynamics.

Authors

Mouaad Boughellaba,Abdelhamid Tayebi

Journal

Automatica

Published Date

2023/5/1

Bearing-based distributed pose estimation for multi-agent networks

In this letter, we address the distributed pose estimation problem for multi-agent systems under a directed graph topology, where two agents have access to their respective poses, and the other agents have unknown static positions and time-varying orientations. The proposed estimation scheme consists of two cascaded distributed observers, an almost globally asymptotically stable (AGAS) attitude observer and an input-to-state stable (ISS) position observer, leading to an overall AGAS distributed localization scheme. Numerical simulation results are presented to illustrate the performance of our proposed distributed pose estimation scheme.

Authors

Mouaad Boughellaba,Abdelhamid Tayebi

Journal

IEEE Control Systems Letters

Published Date

2023/6/20

Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Non-Convex Obstacles

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least one safe path connecting the initial and the target location. The proposed navigation approach relies on a hybrid feedback to guarantee global asymptotic stabilization of the robot towards a predefined target location while ensuring the forward invariance of the obstacle-free workspace. The proposed hybrid feedback controller guarantees Zeno-free switching between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the obstacle-occupied workspace. An instrumental transformation that reshapes (virtually) the non-convex obstacles, in a non-conservative manner, is introduced to facilitate the design of the obstacle-avoidance strategy. Finally, we provide an algorithmic procedure for the sensor-based implementation of the proposed hybrid controller and validate its effectiveness through simulation results.

Authors

Mayur Sawant,Abdelhamid Tayebi,Ilia Polushin

Journal

arXiv preprint arXiv:2304.10598

Published Date

2023/4/20

Leader-follower bearing-based distributed pose estimation for multi-vehicle networks

In this paper, we consider the problem of distributed pose estimation of multi-vehicle networks, with a leader-follower structure evolving on relying on individual linear and angular velocity measurements as well as local inter-vehicle time-varying bearing measurements. We propose a cascaded nonlinear distributed pose estimation scheme where the estimated attitude obtained from an exponentially stable observer is fed to an input-to-state stable position estimation scheme, leading to an overall pose estimation scheme enjoying an exponential stability property.Numerical simulation results are presented to illustrate the performance of the proposed estimation scheme.

Authors

Mouaad Boughellaba,Abdelhamid Tayebi

Published Date

2022/12/6

Autonomous Navigation in Environments with Arbitrary Non-convex Obstacles

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles which can have arbitrary non-convex shapes and can be in close proximity with each other, under the assumption that there exists a safe path connecting the initial and the target locations. We propose a hybrid feedback controller, with Zeno-free switching between the move-to-target mode and the obstacle-avoidance mode, guaranteeing global asymptotic stability of the target equilibrium. To handle the obstacle non-convexity, we introduce a transformation that modifies (virtually) the obstacles’ shapes, in a non-conservative manner, to generate a modified free-space suitable for the design of a reliable obstacle avoidance strategy. Finally, we validate the efficacy of the proposed hybrid feedback controller through simulations.

Authors

Mayur Sawant,Abdelhamid Tayebi,Ilia Polushin

Published Date

2022/12/6

Should we delay the second COVID-19 vaccine dose in order to optimize rollout? A mathematical perspective

Objectives: With vaccination shortage persisting in many countries, adopting an optimal vaccination program is of crucial importance. Given the slow pace of vaccination campaigns globally, a very relevant and burning public health question is whether it is better to delay the second COVID-19 vaccine shot until all priority group people have received at least one shot. Currently, many countries are looking to administer a third dose (booster shot), which raises the question of how to distribute the available daily doses to maximize the effectively vaccinated population. Methods: We formulate a generalized optimization problem with a total of vaccine doses, that have to be optimally distributed between n different sub-populations, where sub-population u i represents people receiving the ith dose of the vaccine with efficacy α i . The particular case where n = 2 is solved first, followed by the general case of n dose regimen. Results: In the case of a two dose regimen, if the efficacy of the second dose is less than (or equal to) twice the efficacy of the first dose, the optimal strategy to maximize the number of effectively vaccinated people is to delay the second vaccine as much as possible. Otherwise, the optimal strategy would consist of administering the second dose as quickly as possible. In the general case, the optimal vaccination strategy would be to administer the k − th dose corresponding to the index providing the maximum inter-dose efficacy difference (α i − α i−1) for all possible values of i ∈ {1, … , n}, with α 0 = 0. Conclusion: Our results suggest that although extending the interval between doses beyond 12 weeks was likely …

Authors

Soulaimane Berkane,Intissar Harizi,Abdelhamid Tayebi,Michael S Silverman,Saverio Stranges

Journal

International Journal of Public Health

Published Date

2022/1/24

Modeling the effect of population-wide vaccination on the evolution of COVID-19 epidemic in Canada

Population-wide vaccination is critical for containing the COVID-19 pandemic when combined with effective testing and prevention measures. Since the beginning of the COVID-19 outbreak, several companies worked tirelessly for the development of an efficient vaccine that would put an end to this pandemic. Today, a number of COVID-19 vaccines have been approved for use by a number of national regulatory organizations. Vaccination campaigns have already started in several countries with different daily-vaccination rates depending on the country’s vaccination capacity. Therefore, we find it timely and extremely important to conduct a study on the effect of population-wide vaccination campaigns on the evolution of the COVID-19 epidemic. To this end, we propose a new deterministic mathematical model to forecast the COVID-19 epidemic evolution under the effect of vaccination and vaccine efficacy. This model, referred to as SIRV, consists of a compartmental SIR (susceptible, infectious and removed) model augmented with an additional state V representing the effectively vaccinated population as well as two inputs representing the daily-vaccination rate and the vaccine efficacy. Using our SIRV model, we predict the evolution of the COVID-19 epidemic in Canada and its most affected provinces (Ontario, Quebec, British Columbia, Alberta, Saskatchewan, and Manitoba), for different daily vaccination rates and vaccine efficacy. Projections suggest that, without vaccination, 219, 000 lives could be lost across Canada by the end of 2021 due to COVID-19. The ongoing vaccination campaign across Canada seems to unfold relatively slowly at an …

Authors

Intissar Harizi,Soulaimane Berkane,Abdelhamid Tayebi

Journal

medRxiv

Published Date

2021/2/8

Nonlinear attitude estimation using intermittent linear velocity and vector measurements

This paper investigates the problem of continuous attitude estimation on SO(3) using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. Numerical simulation results are presented to illustrate the performance of the proposed hybrid observer.

Authors

Miaomiao Wang,Abdelhamid Tayebi

Published Date

2021/12/14

Should We Delay the Second COVID-19 Vaccine Dose?(preprint)

Due to the shortage in COVID-19 vaccine supplies and the alarming sanitary situation engendered by the COVID-19 pandemic, some countries have opted to delay the second dose of the COVID-19 vaccine for some period of time, aiming at getting the first dose of the vaccine to a large number of the population, before proceeding with the second doses. This strategy has sparked some heated debates world-wide for its pros and cons, and no clear consensus is reached among experts. Without taking side in this matter, we tried to answer the following question, from a pure mathematical perspective should we delay the second dose of the vaccine or not?. We show that the answer to this question depends tightly on the efficacy of the first and the second COVID-19 vaccine doses. In particular, if the first dose is more than 50% efficient, the optimal procedure to maximize the number of effectively vaccinated sub-population is to delay the second vaccine as much as possible (the maximum period between the two doses prescribed by the clinical recommendations). On the other hand, if the efficacy of the first dose is less than 50% and the efficacy of the second dose exceeds a certain threshold, then it would be optimal to administer the second dose as quickly as possible (while respecting the minimum period between the two does as prescribed by the clinical recommendations). We provide explicitly the expression of this threshold as a function of the efficacy of first dose.

Authors

Intissar Harizi,Soulaimane Berkane,Abdelhamid Tayebi

Published Date

2021

Nonlinear Estimation for Position-Aided Inertial Navigation Systems

In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias) from IMU and position measurements. The proposed observer does not introduce additional auxiliary states and is shown to guarantee semi-global exponential stability. The performance of the observer is shown, through simulation, to overcome the state-of-the-art approach that assumes negligible accelerations.

Authors

Soulaimane Berkane,Abdelhamid Tayebi

Published Date

2021/12/14

Hybrid Feedback for Global Tracking on Matrix Lie Groups and

We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on from achieving global stability. The key idea consists in constructing a suitable potential function on involving an auxiliary scalar variable, with flow and jump dynamics, which keeps the state away from the undesired critical points while, at the same time, guarantees a decrease of the potential function over the flows and jumps. Based on this new hybrid mechanism, a hybrid feedback control scheme for the attitude tracking problem on , endowed with global asymptotic stability and semiglobal exponential stability guarantees, is proposed. This control scheme is further improved through a smoothing mechanism that removes the discontinuities in the input torque. The …

Authors

Miaomiao Wang,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2021/7/16

Nonlinear observers design for vision-aided inertial navigation systems

This article deals with the simultaneous estimation of the attitude, position, and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on relying on body-frame acceleration, angular velocity, and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and local exponential stability. A detailed uniform observability analysis has been conducted and sufficient conditions are derived. Moreover, a hybrid version of the proposed observer is provided to handle the intermittent nature of the measurements in practical applications. Simulation and experimental results are provided to illustrate the effectiveness of the proposed state observer.

Authors

Miaomiao Wang,Soulaimane Berkane,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2021/6/4

A nonlinear navigation observer using IMU and generic position information

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular velocity, the specific force, and the Earth’s magnetic field. Moreover, we consider available sensors that provide partial or full information about the position of the vehicle. Examples of such sensors are those which provide full position measurements (e.g., GPS), range measurements (e.g., Ultra-Wide Band (UWB) sensors), inertial-frame bearing measurements (e.g., motion capture cameras), or altitude measurements (altimeter). We propose a generic semi-globally exponentially stable nonlinear observer that estimates the position, linear velocity, linear acceleration, and attitude of the vehicle, as well as the gyro bias. We also provide a detailed observability analysis for …

Authors

Soulaimane Berkane,Abdelhamid Tayebi,Simone de Marco

Published Date

2020/6/24

Observers design for inertial navigation systems: A brief tutorial

The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt with using the extended Kalman filter and its variants which proved to be instrumental in many practical applications. Although practically efficient, the lack of strong stability guarantees of these algorithms motivated the emergence of a new class of geometric navigation observers relying on Riemannian geometry tools, leading to provable strong stability properties. The objective of this brief tutorial is to provide an overview of the existing estimation schemes, as well as some recently developed geometric nonlinear observers, for autonomous navigation systems relying on inertial measurement unit (IMU) and landmark measurements.

Authors

Miaomiao Wang,Abdelhamid Tayebi

Published Date

2020/12/14

Nonlinear state estimation for inertial navigation systems with intermittent measurements

This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular velocity and linear acceleration measurements as well as intermittent landmark position measurements. The first type relies on a fixed-gain design approach based on an infinite-dimensional optimization, while the second one relies on a variable-gain design approach based on a continuous–discrete Riccati equation. For each case, we provide two different observers with and without the estimation of the gravity vector. The proposed observers are shown to be exponentially stable with a large domain of attraction. Simulation and experimental results are presented to illustrate the performance of the proposed observers.

Authors

Miaomiao Wang,Abdelhamid Tayebi

Journal

Automatica

Published Date

2020/12/1

Hybrid nonlinear observers for inertial navigation using landmark measurements

This article considers the problem of attitude, position, and linear velocity estimation for rigid body systems relying on inertial measurement unit and landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group SE 2 (3), leading to global exponential stability. The first observer relies on fixed gains, while the second one uses variable gains depending on the solution of a continuous Riccati equation. These observers are then extended to handle biased angular velocity and linear acceleration measurements. Both simulation and experimental results are presented to illustrate the performance of the proposed observers.

Authors

Miaomiao Wang,Abdelhamid Tayebi

Journal

IEEE Transactions on Automatic Control

Published Date

2020/2/7

Abdelhamid Tayebi FAQs

What is Abdelhamid Tayebi's h-index at Lakehead University?

The h-index of Abdelhamid Tayebi has been 27 since 2020 and 41 in total.

What are Abdelhamid Tayebi's top articles?

The articles with the titles of

Hybrid feedback control design for non-convex obstacle avoidance

Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance

Hybrid Feedback for Affine Nonlinear Systems with Application to Global Obstacle Avoidance

Hybrid Feedback Control for Global and Optimal Safe Navigation

Safe and quasi-optimal autonomous navigation in sphere worlds

Distributed Attitude Estimation for Multi-agent Systems on

Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements

Modeling of Four-Winged Micro Ornithopters Inspired by Dragonflies

...

are the top articles of Abdelhamid Tayebi at Lakehead University.

What are Abdelhamid Tayebi's research interests?

The research interests of Abdelhamid Tayebi are: Unmanned Aerial Vehicles, Robotics, Control

What is Abdelhamid Tayebi's total number of citations?

Abdelhamid Tayebi has 8,385 citations in total.

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