Related papers: On Angular Speed Estimation of Rigid Bodies
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
The paper is concerned with the development of Lyapunov methods for the analysis of equilibrium stability in a dynamical system on the space of probability measures driven by a non-local continuity equation. We derive sufficient conditions…
We consider the inverse problem of the detection of a single body, immersed in a bounded container filled with a fluid which obeys the Stokes equations, from a single measurement of force and velocity on a portion of the boundary. We obtain…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…
In this article we consider the motion of two bodies under the action of a Manev central force. We obtain the radius of the circular orbit and analyze its stability in sense of Lyapunov. Drawn on the first integrals of angular momentum and…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
In the context of spacecraft attitude control, parametrizations such as direction vectors or quaternions are often used to avoid singularities in the attitude representation. This, however, complicates the stability analysis of the system…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
We consider Adaptively Restrained Langevin dynamics, in which the kinetic energy function vanishes for small velocities. Properly parameterized, this dynamics makes it possible to reduce the computational complexity of updating…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be…
Angular velocity estimation is critical for eddy current de-tumbling of noncooperative space targets. However, unknown model of the noncooperative target and few observation data make the model-based estimation methods challenged. In this…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…