Abstract: This paper presents tracking strategies for the attitude dynamics of a rigid body that are global on the configuration space SO(3) and semiglobal over the phase space SO(3)×ℝ3. It is well known that global attractivity is ...

Abstract: In this article, we devise a variant of the extended Kalman filter that can be generally applied to systems on manifolds with simplicity and low computational cost. We extend a given system on a manifold to an ambient open ...