Design and application of intrinsic sliding-mode observer on SO(3)

Modelling with Lie group in mechanical systems is widely used in numerous fields, because the method does not depend on local coordinates and peculiarities of immersive space. Considering the situation that configuration manifold is measurable but the angular speed is not measurable, a Super-Twisting intrinsic observer for a class of system built on SO(3) is designed with the intrinsic geometric information, such as Levi-Civita connection, curvature tensor and geodesic. The observer is used to obtain the angular speed and configuration manifold for the system. Observer convergence speciality is provided in the tangent space of SO(3). Then the observer is applied on a quadrotor testbed, the simulation result shows the perfect performance and robustness of the designed observer.