DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements

Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2019) A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements. In: 2019 American Control Conference, ACC 2019, pp. 1114-1121. IEEE. 2019 American Control Conference (ACC), 10-12 July 2019, Philadelphia, PA, USA, USA. doi: 10.23919/ACC.2019.8814815. ISBN 978-1-5386-7926-5. ISSN 2378-5861.

[img] PDF - Only accessible within DLR
[img] PDF

Official URL: https://ieeexplore.ieee.org/document/8814815


In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic capture of such a non-cooperative Target, due to lack of navigational aids, only a relative pose estimate may be obtained from slow-sampled and noisy exteroceptive sensors. The velocity, however, cannot be measured directly. To address this problem, we develop a model-based observer which acts as an internal model for Target kinematics/dynamics and therefore, may act as a predictor during periods of measurement discontinuity. To this end, firstly, we formalize the estimation problem on the SE(3) Lie group with different state and measurement spaces. Secondly, we develop the kinematics and dynamics observer such that the overall observer error dynamics possesses a stability property. Finally, the proposed observer is validated through robust Monte-Carlo simulations and experiments on a robotic facility.

Item URL in elib:https://elib.dlr.de/130560/
Document Type:Conference or Workshop Item (Speech)
Title:A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:29 August 2019
Journal or Publication Title:2019 American Control Conference, ACC 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1114-1121
Series Name:2019 American Control Conference (ACC)
Keywords:aerospace robotics;artificial satellites;mobile robots;Monte Carlo methods;observers;path planning;pose estimation;robot dynamics;robot kinematics;robot vision;nonlinear observer;noncooperative satellite;control design;orbital robotic capture;navigational aids;noisy exteroceptive sensors;model-based observer;measurement discontinuity;measurement spaces;observer error dynamics;pose measurements;free-floating target motion;dynamics observer;kinematics observer;Monte-Carlo simulation
Event Title:2019 American Control Conference (ACC)
Event Location:Philadelphia, PA, USA, USA
Event Type:international Conference
Event Dates:10-12 July 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mishra, Hrishik
Deposited On:18 Nov 2019 08:53
Last Modified:19 Jul 2023 13:42

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.