Robust Global Hybrid Passive Complementary Filter on SO(2)
Piyush P. Jirwankar, Ricardo G. Sanfelice · 2024
We consider the problem of global attitude filtering on the special orthogonal group. Using hybrid systems theory, we propose a global and robust hybrid attitude filter on $\mathrm{SO}(2)$ that is inspired from the passive complementary filter. We show that the proposed filter is input-to-state stable with respect to noise in the measurements. In the absence of measurement noise, this filter renders the identity globally exponentially stable for the attitude error system. Simulations illustrate the results.