View source for Robustness Analysis of Accelerometry Using an Electrostatically Suspended Gyroscope

{{HTDB paper
| authors = J. Alex Fax, Daniel A. Hill, and Richard M. Murray 
| title = Robustness Analysis of Accelerometry Using an Electrostatically Suspended Gyroscope
| source = 1999 IEEE Conference on Controls Applications
| year = 1998
| type = Conference Paper
| funding = AFOSR
| url = http://www.cds.caltech.edu/~murray/preprints/fhm99-cca.pdf
| abstract =  The Electrostatically Suspended Gyroscope (ESG) is a two-axis inertial orientati on
sensor manufactured by Boeing and currently in use on U.S. Navy submarines. The additi
onal ability of the ESG to act as an accelerometer is well known, but extraction of
precision acceleration measuremen ts from an ESG has not been achieved. The major
obstacles to precision accelerometry are the nonlinear dynamics of the ESG rotor and param
etric variation of the ESG electronics. In this paper, we derive a model for the ESG
dynamics with an eye toward efficient representation of the uncertainties in the model. We
represent the model uncert ainties and nonlinearities in a framework amenable to
mu-analysis and analyze ESG accelerometer precision using $\mu$-analysis tools. Finally,
we discuss the implementation of a digital ESG control architecture for use in ESG system
identification and testing of suspension control and acce lerometer algorithms. 
| flags = 
| tag = fhm99-cca
| id = 1998p
}}