An observer for rigid body motion with almost global finite-time convergence

Amit K. Sanyal, Maziar Izadi, Jan Bohn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An observer that obtains estimates of the translational and rotational motion states for a rigid body under the influence of known forces and moments is presented. This nonlinear observer exhibits almost global convergence of state estimates in finite time, based on state measurements of the rigid body's pose and velocities. It assumes a known dynamics model with known resultant force and resultant torque acting on the body, which may include feedback control force and control torque. The observer design based on this model uses the exponential coordinates to describe rigid body pose estimation errors on SE(3), which provides an almost global description of the pose estimate error. Finite-time convergence of state estimates and the observer are shown using a Lyapunov analysis on the nonlinear state space of motion. Numerical simulation results confirm these analytically obtained convergence properties for the case that there is no measurement noise and no uncertainty (noise) in the dynamics. The robustness of this observer to measurement noise in body velocities and additive noise in the force and torque components is also shown through numerical simulation results.

Original languageEnglish (US)
Title of host publicationIndustrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846209
DOIs
StatePublished - Jan 1 2014
Externally publishedYes
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: Oct 22 2014Oct 24 2014

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Volume3

Other

OtherASME 2014 Dynamic Systems and Control Conference, DSCC 2014
CountryUnited States
CitySan Antonio
Period10/22/1410/24/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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    Sanyal, A. K., Izadi, M., & Bohn, J. (2014). An observer for rigid body motion with almost global finite-time convergence. In Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2014-6360