Complementary Filter-Based Attitude Control of Rigid Aircraft with Multiple Inertial Measurement Units

This paper proposes a novel complementary filterbased attitude control method for rigid aircraft equipped with multiple Inertial Measurement Units, specifically designed to address gyro bias. By integrating attitude estimation and control within a unified framework, the proposed approach utilizes filtered inertial measurements to ensure robustness and stability in the presence of gyro bias. Theoretically, it is demonstrated that the system achieves global asymptotic stability, with attitude and angular velocity errors converging to zero. Simulation results validate the effectiveness of the proposed controller, showcasing its capability to compensate for gyro bias and accurately track the desired attitude and angular velocity.