Global Estimation and Control of Rigid-body Attitude and Position Using Single Landmark Measurement

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Moeini, Amir | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46138 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Namvar, Mehrzad
Abstract:
The purpose of determining orientation and position of a rigid-body is specifying its attitude and position with respect to a specified reference frame in order to using in controller. Since there is no sensor that can directly measures the attitude and position, we have to estimate those variables by observers. In this thesis we derive a new and explicit neccesary and sufficient condition for observability of the rigid-body kinematic equation. Also we propose a new observer for estimating the attitude and position of the rigid-body. The special feature of the proposed estimator is that it use only a single landmark and is globally and exponentially stable. In the next step we study the problem in the case of velocity reading affected by noise and for minimizing the upper bound of the estimation error,we derive an optimal gain for tuning the observer. Also we extend the observer in adaptive form for the case of biased velocity reading. At the end we use the observer for controlling a wheeled mobile robot
Keywords:
Output Feedback ; Attitude Estimation ; Position Estimation ; Lyapunov Stability ; Wheeled Robot

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