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A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework

Rothammer, Michael and Coelho, Andre and Mishra, Hrishik and Ott, Christian and Franchi, Antonio and Albu-Schäffer, Alin Olimpiu (2022) A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control Systems Letters, 7, pp. 163-168. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187349. ISSN 2475-1456.

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Official URL: https://ieeexplore.ieee.org/document/9810332


Pfaffian (velocity) constraints are encountered commonly in mechanical systems. In many cases, the measurements for feedback control are obtained from an exteroceptive sensor system, which is not only of low rate, but also suffers from physical discontinuities. This negatively affects controller performance and places severe limitations on the choice of control parameters. To this end, a novel framework comprised of a rigid Body Observer (BObs) and a pose regulator is proposed. During the inter-sampling periods, the observer propagates the state based on an internal model to provide continuous estimates, which are exploited by the pose regulator to stabilize equilibria. We prove uniform asymptotic stability for the closed loop. Furthermore, we validate the proposed framework through simulation and also the BObs experimentally.

Item URL in elib:https://elib.dlr.de/192893/
Document Type:Article
Title:A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Coelho, AndreUNSPECIFIEDhttps://orcid.org/0000-0002-0917-5574UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Franchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0002-5670-1282UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115922
Date:29 June 2022
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 163-168
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Observers for nonlinear systems, robotics, stability of nonlinear systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:17
Last Modified:11 Sep 2023 13:25

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