Izadi, Maziar (New Mexico State University), Bohn, Jan (New Mexico State University), Lee, Daero (New Mexico State University), Sanyal, Amit (New Mexico State University), Butcher, Eric (New Mexico State University), Scheeres, Daniel (The University of Colorado)

A Nonlinear Observer Design for a Rigid Body in the Proximity of a Spherical Asteroid

Scheduled for presentation during the Contributed session "Aerospace Control" (MoBT3), Monday, October 21, 2013, 14:50−15:10, Tent A

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on April 26, 2024

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.