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Nonlinear observer for 3D rigid body motion
Bras S.3; Izadi M.2; Silvestre C.1,3; Sanyal A.2; Oliveira P.3
2013
Conference Name52nd IEEE Annual Conference on Decision and Control (CDC)
Source PublicationProceedings of the IEEE Conference on Decision and Control
Pages2588-2593
Conference DateDEC 10-13, 2013
Conference PlaceFlorence
CountryItaly
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

Observer design for rigid body translational and rotational motion has important applications to unmanned or manned vehicles operating in air, underwater, or in space. An observer design for pose and velocity estimation for threedimensional rigid body motion, in the framework of geometric mechanics, is presented here. Resorting to convenient defined Lyapunov function, a nonlinear observer on the Special Euclidean Group (SE(3)) is derived. This observer is based on the exponential coordinates, which are used to represent the group of rigid body motions. Exponential convergence of the estimation errors is shown and boundedness of the estimation error under bounded unmodeled torques and forces is established. Since exponential coordinates can describe uniquely almost the entire group of rigid body motions, the resulting observer design is almost globally exponentially convergent. The observer is then applied to the free dynamics of a rigid vehicle. Numerical simulation results are presented to show the performance of this observer, both in the absence and with unmodeled forces and torques. ©2013 IEEE.

DOI10.1109/CDC.2013.6760272
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000352223503003
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.New Mexico State University Las Cruces
3.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Bras S.,Izadi M.,Silvestre C.,et al. Nonlinear observer for 3D rigid body motion[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2013:2588-2593.
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