Section: New Results

Observer for a rigid body

Participants : Frédéric Mazenc, Maruthi Akella [University of Texas, USA] , Hongyang Duong [Harbin Institute of Technology] , Qinglei Hu [Beihang University] .

In the work [15], observers are proposed for models of rigid bodies in the case where only a part of the state variables can be measured. The design is based on the dual-quaternion description. To achieve tracking control objectives, the proposed observer are combined with an independently designed proportional-derivative-like feedback control law (using full-state feedback), and a special Lyapunov "strictification" process is employed to ensure a separation property between the observer and the controller. Almost global asymptotic stability of the closed-loop dynamics is guaranteed. We performed numerical simulations for a prototypical spacecraft pose tracking mission application to illustrate the effectiveness and robustness of the proposed method.