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Nonlinear observer for 3D rigid body motion
Sérgio Brás1; Maziar Izadi3; Carlos Silvestre1,2; Amit Sanyal3; Paulo Oliveira1
2014-03-10
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 PlaceFirenze
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.

DOI10.1109/CDC.2013.6760272
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000352223503003
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Cited Times [WOS]:13   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Corresponding AuthorSérgio Brás
Affiliation1.Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T´ecnico, Universidade T´ecnica de Lisboa, Lisbon 1049-001, Portugal
2.Dep. of Electrical and Computer Eng., Faculty of Science and Technology of the University of Macau.
3.Mechanical and Aerospace Engineering department, New Mexico State University, Las Cruces, NM 88011
Recommended Citation
GB/T 7714
Sérgio Brás,Maziar Izadi,Carlos Silvestre,et al. Nonlinear observer for 3D rigid body motion[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2014:2588-2593.
APA Sérgio Brás,Maziar Izadi,Carlos Silvestre,Amit Sanyal,&Paulo Oliveira.(2014).Nonlinear observer for 3D rigid body motion.Proceedings of the IEEE Conference on Decision and Control,2588-2593.
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