A nonlinear observer design for a rigid body in the proximity of a spherical asteroid

Maziar Izadi, Jan Bohn, Daero Lee, Amit K. Sanyal, Eric Butcher, Daniel J. Scheeres

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

6 Scopus citations

Abstract

We consider an observer design for a spacecraft modeled as a rigid body in the proximity of an asteroid. The nonlinear observer is constructed on the nonlinear state space of motion of a rigid body, which is the tangent bundle of the Lie group of rigid body motions in three-dimensional Euclidean space. The framework of geometric mechanics is used for the observer design. States of motion of the spacecraft are estimated based on state measurements. In addition, the observer designed can also estimate the gravity parameter of the asteroid, assuming the asteroid to have a spherically symmetric mass distribution. Almost global convergence of state estimates and gravity parameter estimate to their corresponding true values is demonstrated analytically, and verified numerically.

Original languageEnglish (US)
Title of host publicationAerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856123
DOIs
StatePublished - Jan 1 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume1

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Izadi, M., Bohn, J., Lee, D., Sanyal, A. K., Butcher, E., & Scheeres, D. J. (2013). A nonlinear observer design for a rigid body in the proximity of a spherical asteroid. In Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; [V001T02A005] (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 1). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-4085