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Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements
Sérgio Brás1; Maziar Izadi2; Carlos Silvestre3; Amit Sanyal4; Paulo Oliveira5
2016-02-08
Source PublicationIEEE Transactions on Automatic Control
ISSN00189286
Volume61Issue: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.

KeywordDoppler Measurements Navigation Nonlinear Dynamic Systems Observers Time-varying Systems
DOI10.1109/TAC.2016.2526671
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000389892000032
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Fulltext Access
Citation statistics
Cited Times [WOS]:5   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.ISR/LARSyS, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
2.Department of Aerospace Engineering, Texas A&M University, College Station, TX, USA
3.Department of Electrical and Computer Engineering, Faculty of Science and Technology, Universidade de Lisboa, Lisboa, Portugal
4.Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, USA
5.IDMEC/LAETA and ISR/LARSyS, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
Recommended Citation
GB/T 7714
Sérgio Brás,Maziar Izadi,Carlos Silvestre,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 Sérgio Brás,Maziar Izadi,Carlos Silvestre,Amit Sanyal,&Paulo Oliveira.(2016).Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements.IEEE Transactions on Automatic Control,61(11),3580-3585.
MLA Sérgio Brás,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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