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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: Proceedings of the American Control Conference, pp. 1114-1121. IEEE. 2019 American Control Conference (ACC), 10-12 July 2019, Philadelphia, PA, USA, USA. ISBN 978-1-5386-7926-5 ISSN 2378-5861

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:29 August 2019
Journal or Publication Title:Proceedings of the American Control Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 1114-1121
Publisher:IEEE
Series Name:2019 American Control Conference (ACC)
ISSN:2378-5861
ISBN:978-1-5386-7926-5
Status:Published
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
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):On-Orbit Servicing
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:18 Nov 2019 08:53

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