{"id":"https://openalex.org/W1980425727","doi":"https://doi.org/10.1109/cdc.2013.6760272","title":"Nonlinear observer for 3D rigid body motion","display_name":"Nonlinear observer for 3D rigid body motion","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1980425727","doi":"https://doi.org/10.1109/cdc.2013.6760272","mag":"1980425727"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2013.6760272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000676964","display_name":"S\u00e9rgio Br\u00e1s","orcid":"https://orcid.org/0000-0002-7979-9358"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sergio Bras","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112057042","display_name":"Maziar Izadi","orcid":null},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maziar Izadi","raw_affiliation_strings":["Mechanical and Aerospace Engineering department, New Mexico State University, Las Cruces, NM"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering department, New Mexico State University, Las Cruces, NM","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Carlos Silvestre","raw_affiliation_strings":["Dep. of Electrical and Computer Eng., University of Macau"],"affiliations":[{"raw_affiliation_string":"Dep. of Electrical and Computer Eng., University of Macau","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079524565","display_name":"Amit K. Sanyal","orcid":"https://orcid.org/0000-0002-3258-7841"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit Sanyal","raw_affiliation_strings":["Mechanical and Aerospace Engineering department, New Mexico State University, Las Cruces, NM"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering department, New Mexico State University, Las Cruces, NM","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024492269","display_name":"Paulo Oliveira","orcid":"https://orcid.org/0000-0002-5799-390X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paulo Oliveira","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5000676964"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5545,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.95400389,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2588","last_page":"2593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.8121318817138672},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7860808372497559},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.673327624797821},{"id":"https://openalex.org/keywords/euclidean-group","display_name":"Euclidean group","score":0.6623894572257996},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5401036739349365},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5053125023841858},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4918701648712158},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.480591744184494},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.47252753376960754},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.468605637550354},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.460287481546402},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.4509645104408264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41479605436325073},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4139196574687958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3292223811149597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28926682472229004},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2715904116630554},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23516276478767395},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16711708903312683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1220114529132843}],"concepts":[{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.8121318817138672},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7860808372497559},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.673327624797821},{"id":"https://openalex.org/C19939924","wikidata":"https://www.wikidata.org/wiki/Q852195","display_name":"Euclidean group","level":4,"score":0.6623894572257996},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5401036739349365},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5053125023841858},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4918701648712158},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.480591744184494},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.47252753376960754},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.468605637550354},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.460287481546402},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.4509645104408264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41479605436325073},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4139196574687958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3292223811149597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28926682472229004},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2715904116630554},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23516276478767395},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16711708903312683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1220114529132843},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2013.6760272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W199805578","https://openalex.org/W1502308290","https://openalex.org/W1528225916","https://openalex.org/W1964657361","https://openalex.org/W1981745143","https://openalex.org/W1985373680","https://openalex.org/W2026891225","https://openalex.org/W2045308959","https://openalex.org/W2046287268","https://openalex.org/W2048481056","https://openalex.org/W2069686528","https://openalex.org/W2075216604","https://openalex.org/W2083570532","https://openalex.org/W2090347046","https://openalex.org/W2100600017","https://openalex.org/W2110794641","https://openalex.org/W2129214812","https://openalex.org/W2129738004","https://openalex.org/W2132131672","https://openalex.org/W2134858417","https://openalex.org/W2145654359","https://openalex.org/W2154642391","https://openalex.org/W2273619723","https://openalex.org/W2533294944","https://openalex.org/W2740133886","https://openalex.org/W3200169355","https://openalex.org/W4285719527","https://openalex.org/W6629917956","https://openalex.org/W6694360159","https://openalex.org/W6801108219"],"related_works":["https://openalex.org/W1547662599","https://openalex.org/W4233673530","https://openalex.org/W2019387011","https://openalex.org/W4237203724","https://openalex.org/W4233088983","https://openalex.org/W2165354764","https://openalex.org/W4200147079","https://openalex.org/W2166881888","https://openalex.org/W2026157693","https://openalex.org/W2734645780"],"abstract_inverted_index":{"Observer":[0],"design":[1,26,121],"for":[2,27,32],"rigid":[3,34,79,115,138],"body":[4,35,80,116],"translational":[5],"and":[6,29,90,100,156,160],"rotational":[7],"motion":[8],"has":[9],"important":[10],"applications":[11],"to":[12,47,74,132,145],"unmanned":[13],"or":[14,21],"manned":[15],"vehicles":[16],"operating":[17],"in":[18,22,37,153],"air,":[19],"underwater,":[20],"space.":[23],"An":[24],"observer":[25,54,64,120,128],"pose":[28],"velocity":[30],"estimation":[31,86,94],"three-dimensional":[33],"motion,":[36],"the":[38,56,68,76,85,93,111,118,133,147,154],"framework":[39],"of":[40,78,84,92,114,136,149],"geometric":[41],"mechanics,":[42],"is":[43,61,65,88,102,122,129],"presented":[44,144],"here.":[45],"Resorting":[46],"convenient":[48],"defined":[49],"Lyapunov":[50],"function,":[51],"a":[52,137],"nonlinear":[53],"on":[55,67],"Special":[57],"Euclidean":[58],"Group":[59],"(SE(3))":[60],"derived.":[62],"This":[63],"based":[66],"exponential":[69,105],"coordinates,":[70],"which":[71],"are":[72,143],"used":[73],"represent":[75],"group":[77,113],"motions.":[81],"Exponential":[82],"convergence":[83],"errors":[87],"shown":[89],"boundedness":[91],"error":[95],"under":[96],"bounded":[97],"unmodeled":[98,158],"torques":[99],"forces":[101,159],"established.":[103],"Since":[104],"coordinates":[106],"can":[107],"describe":[108],"uniquely":[109],"almost":[110,123],"entire":[112],"motions,":[117],"resulting":[119],"globally":[124],"exponentially":[125],"convergent.":[126],"The":[127],"then":[130],"applied":[131],"free":[134],"dynamics":[135],"vehicle.":[139],"Numerical":[140],"simulation":[141],"results":[142],"show":[146],"performance":[148],"this":[150],"observer,":[151],"both":[152],"absence":[155],"with":[157],"torques.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}