Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements | |
Bras S.1; Izadi M.3; Silvestre C.2![]() | |
2016-11-01 | |
Source Publication | IEEE Transactions on Automatic Control
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ISSN | 00189286 |
Volume | 61Issue:11Pages:3580-3585 |
Abstract | This work presents a nonlinear observer that estimates the translational and rotational motion of a rigid body based on measurements of configuration (pose), angular velocity, and radial velocity as well as modeled forces and torques. The radial velocity measurements are provided by a single direction Doppler sensor. Using a conveniently defined Lyapunov function, a nonlinear observer on the Special Euclidean Group (SE(3)) is derived and almost globally stability is guaranteed. The resulting estimation error is almost globally exponentially convergent for sufficiently rich motion. Numerical simulation results are presented that illustrate the performance of the proposed solution. |
Keyword | Doppler Measurements Navigation Nonlinear Dynamic Systems Observers Time-varying Systems |
DOI | 10.1109/TAC.2016.2526671 |
URL | View the original |
Language | 英语 |
WOS Research Area | Automation & Control Systems ; Engineering |
WOS Subject | Automation & Control Systems ; Engineering, Electrical & Electronic |
WOS ID | WOS:000389892000032 |
Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA |
Fulltext Access | |
Citation statistics | |
Document Type | Journal article |
Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
Affiliation | 1.Instituto Superior Técnico 2.Universidade de Macau 3.Texas A and M University 4.Syracuse University |
Recommended Citation GB/T 7714 | Bras S.,Izadi M.,Silvestre C.,et al. Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements[J]. IEEE Transactions on Automatic Control,2016,61(11):3580-3585. |
APA | Bras S.,Izadi M.,Silvestre C.,Sanyal A.,&Oliveira P..(2016).Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements.IEEE Transactions on Automatic Control,61(11),3580-3585. |
MLA | Bras S.,et al."Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements".IEEE Transactions on Automatic Control 61.11(2016):3580-3585. |
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