Nonlinear observer for 3D rigid body motion

Sérgio Brás, Maziar Izadi, Carlos Silvestre, Amit Sanyal, Paulo Oliveira

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

18 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2588-2593
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Brás, S., Izadi, M., Silvestre, C., Sanyal, A., & Oliveira, P. (2013). Nonlinear observer for 3D rigid body motion. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 2588-2593). [6760272] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760272