TY - GEN
T1 - A nonlinear observer design for a rigid body in the proximity of a spherical asteroid
AU - Izadi, Maziar
AU - Bohn, Jan
AU - Lee, Daero
AU - Sanyal, Amit K.
AU - Butcher, Eric
AU - Scheeres, Daniel J.
PY - 2013
Y1 - 2013
N2 - We consider an observer design for a spacecraft modeled as a rigid body in the proximity of an asteroid. The nonlinear observer is constructed on the nonlinear state space of motion of a rigid body, which is the tangent bundle of the Lie group of rigid body motions in three-dimensional Euclidean space. The framework of geometric mechanics is used for the observer design. States of motion of the spacecraft are estimated based on state measurements. In addition, the observer designed can also estimate the gravity parameter of the asteroid, assuming the asteroid to have a spherically symmetric mass distribution. Almost global convergence of state estimates and gravity parameter estimate to their corresponding true values is demonstrated analytically, and verified numerically.
AB - We consider an observer design for a spacecraft modeled as a rigid body in the proximity of an asteroid. The nonlinear observer is constructed on the nonlinear state space of motion of a rigid body, which is the tangent bundle of the Lie group of rigid body motions in three-dimensional Euclidean space. The framework of geometric mechanics is used for the observer design. States of motion of the spacecraft are estimated based on state measurements. In addition, the observer designed can also estimate the gravity parameter of the asteroid, assuming the asteroid to have a spherically symmetric mass distribution. Almost global convergence of state estimates and gravity parameter estimate to their corresponding true values is demonstrated analytically, and verified numerically.
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U2 - 10.1115/DSCC2013-4085
DO - 10.1115/DSCC2013-4085
M3 - Conference contribution
AN - SCOPUS:84902531029
SN - 9780791856123
T3 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
BT - Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications;
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Y2 - 21 October 2013 through 23 October 2013
ER -