Showing papers on "Angular velocity published in 2016"
TL;DR: In this article, the authors review the recent progress in understanding of fully developed Taylor-Couette turbulence from the experimental, numerical, and theoretical points of view, focusing on the parameter dependence of the global torque and on the local flow organization, including velocity profiles and boundary layers.
Abstract: Taylor-Couette flow, the flow between two coaxial co- or counter-rotating cylinders, is one of the paradigmatic systems in the physics of fluids. The (dimensionless) control parameters are the Reynolds numbers of the inner and outer cylinders, the ratio of the cylinder radii, and the aspect ratio. One key response of the system is the torque required to retain constant angular velocities, which can be connected to the angular velocity transport through the gap. Whereas the low–Reynolds number regime was well explored in the 1980s and 1990s of the past century, in the fully turbulent regime major research activity developed only in the past decade. In this article, we review this recent progress in our understanding of fully developed Taylor-Couette turbulence from the experimental, numerical, and theoretical points of view. We focus on the parameter dependence of the global torque and on the local flow organization, including velocity profiles and boundary layers. Next, we discuss transitions between diff...
297 citations
TL;DR: A rigorous proof shows that semi-global finite-time stability of the overall closed-loop system can be achieved and the proposed velocity-free control law guarantees a group of spacecraft to simultaneously track a common time-varying reference attitude in finite time even when the reference attitude is available only to a subset of the group members.
182 citations
TL;DR: It is shown that with the proposed control law, the leader-follower formation can be achieved without using absolute position measurements while the velocity constraints are satisfied.
Abstract: This paper considers a leader–follower formation control problem of nonholonomic vehicles of unicycle-type subject to velocity constraints. The velocity constraints of each vehicle are described by saturated angular velocity and bounded linear velocity lying between two positive constants. The communication topology of the networked multi-vehicle system is modeled by a directed graph. The designed control law is distributed in the sense that the controller of each follower vehicle only uses its own information and the information of its neighboring vehicles. It is shown that with the proposed control law, the leader–follower formation can be achieved without using absolute position measurements while the velocity constraints are satisfied. Finally, the simulation results of an example verify effectiveness of the proposed control law.
144 citations
TL;DR: In this article, the authors studied the predicted rotational evolution of solar-type stars from the pre-main sequence to the solar age with 1D rotating evolutionary models including physical ingredients.
Abstract: Context. Understanding the angular momentum evolution of stars is one of the greatest challenges of modern stellar physics. Aims: We study the predicted rotational evolution of solar-type stars from the pre-main sequence to the solar age with 1D rotating evolutionary models including physical ingredients. Methods: We computed rotating evolution models of solar-type stars including an external stellar wind torque and internal transport of angular momentum following the method of Maeder and Zahn with the code STAREVOL. We explored different formalisms and prescriptions available from the literature. We tested the predictions of the models against recent rotational period data from extensive photometric surveys, lithium abundances of solar-mass stars in young clusters, and the helioseismic rotation profile of the Sun. Results: We find a best-matching combination of prescriptions for both internal transport and surface extraction of angular momentum. This combination provides a very good fit to the observed evolution of rotational periods for solar-type stars from early evolution to the age of the Sun. Additionally, we show that fast rotators experience a stronger coupling between their radiative region and the convective envelope. Regardless of the set of prescriptions, however, we cannot simultaneously reproduce surface angular velocity and the internal profile of the Sun or the evolution of lithium abundance. Conclusions: We confirm the idea that additional transport mechanisms must occur in solar-type stars until they reach the age of the Sun. Whether these processes are the same as those needed to explain recent asteroseismic data in more advanced evolutionary phases is still an open question.
139 citations
TL;DR: A novel approach for the estimation of the Instantaneous Angular Speed (IAS) of rotating machines from vibration measurements is proposed, originated from the organisation of a contest during the conference CMMNO 2014.
95 citations
TL;DR: In this article, the rotational splittings of the dipole mixed modes were extracted from the power spectrum of the early red-giant star KIC 4448777 by asteroseismic inversion.
Abstract: In this paper we study the dynamics of the stellar interior of the early red-giant star KIC 4448777 by asteroseismic inversion of 14 splittings of the dipole mixed modes obtained from {\it Kepler} observations. In order to overcome the complexity of the oscillation pattern typical of red-giant stars, we present a procedure which involves a combination of different methods to extract the rotational splittings from the power spectrum. We find not only that the core rotates faster than the surface, confirming previous inversion results generated for other red giants (Deheuvels et al. 2012,2014), but we also estimate the variation of the angular velocity within the helium core with a spatial resolution of $\Delta r=0.001R$ and verify the hypothesis of a sharp discontinuity in the inner stellar rotation (Deheuvels et al. 2014). The results show that the entire core rotates rigidly with an angular velocity of about $\langle\Omega_c/2\pi\rangle=748\pm18$~nHz and provide evidence for an angular velocity decrease through a region between the helium core and part of the hydrogen burning shell; however we do not succeed to characterize the rotational slope, due to the intrinsic limits of the applied techniques. The angular velocity, from the edge of the core and through the hydrogen burning shell, appears to decrease with increasing distance from the center, reaching an average value in the convective envelope of $\langle\Omega_s/2\pi\rangle=68\pm22$~nHz. Hence, the core in KIC~4448777 is rotating from a minimum of 8 to a maximum of 17 times faster than the envelope. We conclude that a set of data which includes only dipolar modes is sufficient to infer quite accurately the rotation of a red giant not only in the dense core but also, with a lower level of confidence, in part of the radiative region and in the convective envelope.
74 citations
TL;DR: An indirect approach based on phase measurement is proposed to measure the rotational Doppler frequency shift, which takes full advantage of the phase structure of orbital angular momentum (OAM) beams in radio domain, using a vector network analyzer (VNA) as a phase discriminator.
Abstract: An indirect approach based on phase measurement is proposed to measure the rotational Doppler frequency shift, which takes full advantage of the phase structure of orbital angular momentum (OAM) beams in radio domain, using a vector network analyzer (VNA) as a phase discriminator. A proof-of-concept experiment is established by an optical-controlled system with the OAM state of 1. By analyzing the experiment’s results, the rotational Doppler frequency shift is measured as 24.83 Hz (max error rate 0.67%) at 50π rad/s rotational velocity, deducing the rotational velocity as 50.18π (average error rate 0.36%).
58 citations
TL;DR: In this article, the instantaneous angular speed (IAS)-based fault diagnosis is introduced in order to compensate for the shortcoming of conventional monitoring techniques since it is strictly synchronized to shaft rotation and much less dependent on the transfer path between the defect and the sensor.
Abstract: The fault diagnosis and prognosis of low speed machines remains a difficult problem despite remarkable advances in the conditional monitoring domain. The Rolling-element bearing is a vital part of these machines and its failure is one of the main causes of machine breakdown. In order to have an efficient maintenance strategy, fault diagnosis of a bearing and time estimation of its remaining useful life is needed. However, conventional vibration analysis at very low speeds generally fails to detect vibrations issued from a faulty bearing due to its low energy, high and variable loading conditions and to the noisy environment generated by other mechanical components of low speed machines such as gearing systems. In this work, instantaneous angular speed (IAS)-based fault diagnosis is introduced in order to compensate for the shortcoming of conventional monitoring techniques since it is strictly synchronized to shaft rotation and much less dependent on the transfer path between the defect and the sensor cont...
53 citations
TL;DR: In this paper, the displacement and stress fields in a functionally graded material (FGM) hollow circular disk, rotating with an angular acceleration under a changing temperature field, are achieved by using a semi-analytical approach.
51 citations
TL;DR: In this article, the authors studied the general propagation properties of free linear inertial waves in a differentially rotating homogeneous fluid inside a spherical shell and showed that they are less common than D modes and that the characteristic rays and shear layers often focus towards a wedge -or point-like attractor.
Abstract: Star-planet tidal interactions may result in the excitation of inertial waves in the convective region of stars. In low-mass stars, their dissipation plays a prominent role in the long-term orbital evolution of short-period planets. Turbulent convection can sustain differential rotation in their envelope, with an equatorial acceleration (as in the Sun) or deceleration, which can modify the waves' propagation properties. We explore in this first paper the general propagation properties of free linear inertial waves in a differentially rotating homogeneous fluid inside a spherical shell. We assume that the angular velocity background flow depends on the latitudinal coordinate only, close to what is expected in the external convective envelope of low-mass stars. We use i) an analytical approach in the inviscid case to get the dispersion relation, from which we compute the characteristic trajectories along which energy propagates. This allows us to study the existence of attractor cycles and infer the different families of inertial modes; ii) high-resolution numerical calculations based on a spectral method for the viscous problem. We find that modes that propagate in the whole shell (D modes) behave the same way as with solid-body rotation. However, another family of inertial modes exists (DT modes), which can propagate only in a restricted part of the convective zone. Our study shows that they are less common than D modes and that the characteristic rays and shear layers often focus towards a wedge - or point-like attractor. More importantly, we find that for non-axisymmetric oscillation modes, shear layers may cross a corotation resonance with a local accumulation of kinetic energy. Their damping rate scales very differently from what we obtain for standard D modes and we show an example where it is independent of viscosity (Ekman number) in the astrophysical regime in which it is small.
45 citations
TL;DR: In this paper, two finite-time attitude coordinated controllers for formation flying spacecraft are investigated based on rotation matrix, where rotation matrix can represent the set of attitudes both globally and uniquely, the two controllers can deal with unwinding that can result in extra fuel consumption.
TL;DR: A composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time.
Abstract: The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.
TL;DR: In this paper, a series of direct numerical simulations of turbulent channel flow with spanwise rotation at fixed global friction Reynolds number is performed to investigate the rotation effects on the mean velocity, streamwise velocity fluctuations, Reynolds shear stress and turbulent kinetic energy.
Abstract: A series of direct numerical simulations of turbulent channel flow with spanwise rotation at fixed global friction Reynolds number is performed to investigate the rotation effects on the mean velocity, streamwise velocity fluctuations, Reynolds shear stress and turbulent kinetic energy. The global friction Reynolds number is chosen to be ( is the global friction velocity, is the channel half-width and is the kinematic viscosity), while the global-friction-velocity-based rotation number ( is the dimensional angular velocity) varies from 0 to 130. In the previously reported -slope region for the mean velocity, a linear behaviour for the streamwise velocity fluctuations, a unit-slope linear profile for the Reynolds shear stress and a -slope linear profile for the production term of have been identified for the first time. The critical rotation number, which corresponds to the laminar limit, is predicted to be equal to according to the unit-slope linear profile of the Reynolds shear stress. Our results also show that a parabolic profile of the mean velocity can be identified around the ‘second plateau’ region of the Reynolds shear stress for . The parabolas at different rotation numbers have the same shape of , the radius of curvature at the vertex. Furthermore, the system rotation increases the volume-averaged turbulent kinetic energy at lower rotation rates, and then decreases it when .
TL;DR: A velocity-free pose-tracking controller that guarantees that the pose of the chaser spacecraft will converge to the desired pose independent of the initial state, even if the reference motion is not sufficiently exciting.
Abstract: Since vision-based sensors typically cannot directly measure the relative linear and angular velocities between two spacecraft, it is useful to develop attitude- and position-tracking controllers- namely, pose-tracking controllers-that do not require such measurements. Using dual quaternions and based on an existing attitude-only tracking controller, a pose-tracking controller that does not require relative linear- or angular-velocity measurements is developed in this paper. Compared to the existing literature, this velocity-free pose-tracking controller guarantees that the pose of the chaser spacecraft will converge to the desired pose independent of the initial state, even if the reference motion is not sufficiently exciting. In addition, the convergence region does not depend on the gains chosen by the user. The velocity-free controller is verified and compared with a velocity-feedback controller through two simulations. In particular, the proposed velocity-free controller is compared qualitatively and quantitatively with a velocity-feedback controller and an extended Kalman filter using a relatively realistic satellite proximity-operation scenario.
TL;DR: In this paper, the rotational inertia of small rigid fibers relative to the surrounding fluid in wall-bounded turbulence is examined by means of direct numerical simulations coupled with Lagrangian tracking.
Abstract: In this study, the rotation of small rigid fibers relative to the surrounding fluid in wall-bounded turbulence is examined by means of direct numerical simulations coupled with Lagrangian tracking. Statistics of the relative (fiber-to-fluid) angular velocity, referred to as slip spin in the present study, are evaluated by modelling fibers as prolate spheroidal particles with Stokes number, St, ranging from 1 to 100 and aspect ratio, λ, ranging from 3 to 50. Results are compared one-to-one with those obtained for spherical particles (λ = 1) to highlight effects due to fiber length. The statistical moments of the slip spin show that differences in the rotation rate of fibers and fluid are influenced by inertia, but depend strongly also on fiber length: Departures from the spherical shape, even when small, are associated with an increase of rotational inertia and prevent fibers from passively following the surrounding fluid. An increase of fiber length, in addition, decouples the rotational dynamics of a fiber from its translational dynamics suggesting that the two motions can be modelled independently only for long enough fibers (e.g., for aspect ratios of order ten or higher in the present simulations).
TL;DR: In this paper, an optically levitated microparticle is placed within a Laguerre-Gaussian beam and orbits the annular beam profile with increasing angular velocity as the air drag coefficient is reduced.
Abstract: We demonstrate the transfer of orbital angular momentum to an optically levitated microparticle in vacuum. The microparticle is placed within a Laguerre-Gaussian beam and orbits the annular beam profile with increasing angular velocity as the air drag coefficient is reduced. We explore the particle dynamics as a function of the topological charge of the levitating beam. Our results reveal that there is a fundamental limit to the orbital angular momentum that may be transferred to a trapped particle, dependent upon the beam parameters and inertial forces present.
TL;DR: In this paper, the behavior of a neutral particle with an induced electric dipole moment in a region with a uniform effective magnetic field under the influence of the Kratzer potential (Kratzer 1920 Z.
Abstract: The behaviour of a neutral particle (atom, molecule) with an induced electric dipole moment in a region with a uniform effective magnetic field under the influence of the Kratzer potential (Kratzer 1920 Z. Phys. 3 , 289–307. (doi:10.1007/BF01327754)), and rotating effects is analysed. It is shown that the degeneracy of the Landau-type levels is broken and the angular frequency of the system acquires a new contribution that stems from the rotation effects. Moreover, in the search for bound state solutions, it is shown that the possible values of this angular frequency of the system are determined by the quantum numbers associated with the radial modes and the angular momentum, the angular velocity of the rotating frame and by the parameters associated with the Kratzer potential.
TL;DR: In this paper, a two-phase solver is presented and described, with a particular interest in the solution of highly elastic flows of viscoelastic fluids, based on a combination of classical Volume-of-Fluid and Continuum Surface Force methods, along with a generic kernel-conformation tensor transformation to represent the rheological characteristics of the (multi-fluid phases.
TL;DR: A method to estimate the transducer poses using only their own measurements without depending on reference motion data is presented, based on an iterative graph optimization that considers both the sensor poses and the motion as target variables.
Abstract: A gyroscope-free inertial measurement unit employs solely accelerometers to capture the motion of a body in the form of its linear and angular acceleration as well as its angular velocity. For that, multiple transducers are fixed at distinct locations of the body that together form an accelerometer array. To accurately estimate the motion, the poses of the sensors, i.e., their positions and orientations, must be known precisely. Unfortunately, these parameters are typically hard to assess. Current state-of-the-art calibration methods are able to reconstruct the geometrical sensor configuration based on a set of motion data and corresponding acceleration measurements. However, to impose a reference motion on the sensor array and to capture that motion with the necessary accuracy requires sophisticated laboratory equipment. In this paper, we present a method to estimate the transducer poses using only their own measurements without depending on reference motion data. It is based on an iterative graph optimization that considers both the sensor poses and the motion as target variables. Initially, this results in infinitely many solutions. We reduce the solutions to only one global optimum by explicitly modeling the used triple-axis accelerometers as sensor triads and furthermore taking the temporal dependence of the acceleration samples into account. We compare our method to the conventional calibration using reference data in terms of its estimation accuracy. Furthermore, we analyze the convergence properties of our method by evaluating its tolerance to initial pose deviations. For both, we use synthetic and experimental data recorded on a 3-D rotation table.
TL;DR: In this article, an original formulation to induce tangential forces to the shaft due to bearing components dynamics by means of a Hertzian contact roller bearing model was presented. But it is not suitable for non-stationary conditions.
TL;DR: In this paper, an instantaneous angular speed (IAS) based algorithm for fault detection in a multistage gearbox is presented, based on the Fast Fourier Transform (FFT).
Abstract: The paper deals with an instantaneous angular speed (IAS) based algorithm for fault detection in a multistage gearbox. Fast Fourier transform (FFT) is a well established technique for analysis of a...
TL;DR: In this article, the authors evaluate the suitability of Bach-type turbines for use as micro-scale energy harvesters that can be applied to power, for example, sensor nodes of a wireless sensor network.
TL;DR: In this article, an analytical solution was developed for the unsteady flow of fluid through a parallel rotating plate microchannel, under the influence of electrokinetic force using the Debye-Huckel (DH) approximation.
Abstract: An analytical solution is developed for the unsteady flow of fluid through a parallel rotating plate microchannel, under the influence of electrokinetic force using the Debye–Huckel (DH) approximation. Transient Navier–Stokes equations are solved exactly in terms of the cosine Fourier series using the separation of variables method. The effects of frame rotation frequency and electroosmotic force on the fluid velocity and the flow rate distributions are investigated. The rotating system is found to have a damped oscillatory behavior. It is found that the period and the decay rate of the oscillations are independent of the DH parameter (κ). A time dependent structure of the boundary layer is observed at higher rotational frequencies. Furthermore, the rotation is shown to generate a secondary flow and a parameter is defined (β(t)) to examine the ratio of the flow in the y and x directions. It showed that both the angular velocity and the Debye–Huckel parameters are influential on the induced transient secondary flow in the y direction. At high values of the Debye–Huckel parameter and the rotation parameter the flow rates in the x and y directions are found to be identical. The analytical solution results are found to be in good agreement with the numerical method results and previously published work in this field.
TL;DR: In this article, a piezoelectric inertial rotary actuator with a bias unit that is based on asymmetrical clamping structures was presented, where the bias unit improved angular velocity and output force to some extent.
Abstract: A novel piezoelectric inertial rotary actuator with a bias unit that is based on asymmetrical clamping structures was presented in this paper. Under the same circumstance, the designed actuator with symmetrical electrical signals produced a relatively larger inertial driving moment difference because of the existence of the bias unit. Mechanical analysis was derived and the simulation model of the bias unit was built to ascertain the influence of structural parameters on output performance. A prototype with a bias unit, a carrying device and a friction adjusting device was fabricated and an experimental system was built to evaluate the performance in terms of output displacement, angular velocity, driving moment and bearing capacity. Both simulation and experimental results indicated that the bias unit improved angular velocity and output force to some extent. Compared with the actuator without a bias unit, the actuator with the offset distance of 15 mm enhanced the maximum angular velocity by approximately 54.88% from 3.48 rad/s to 5.39 rad/s under 100 V, 23 Hz and the highest driving moment by 50.2% from 2.41 N mm to 3.62 N mm. Angular displacement resolution reached 14.3 μrad under 15 V, 1 Hz and heavy bearing capacity attained 1300 g under 100 V, 4 Hz. In general, the proposed actuator can achieve larger angular velocity and higher carrying capacity than those in literature.
TL;DR: In this paper, an offline extended Kalman filtering based parameter identification and drift compensation for a MEMS ring vibratory gyroscope is presented, which is based on the slowly varying averaged dynamic model expressed in terms of orbital elements.
Abstract: This paper presents an offline extended Kalman filtering based parameter identification and drift compensation for a MEMS ring vibratory gyroscope. Damping and stiffness imperfections are the major error sources in MEMS vibratory gyroscopes. In the rate integrating operation mode, where angle is output instead of angular velocity as in the case of the rate gyroscope, parameter identification is an essential prerequisite for any feedback control and compensation algorithm to minimize angle drift and other errors. The proposed EKF method provides five estimates for the resonator DC loop gain, and another four parameters related to the non-proportional damping and aniso-elasticities. The method is based on the slowly varying averaged dynamic model expressed in terms of orbital elements. The averaging methodology offers important advantages over similar attempts based directly on the dynamic model expressed in terms of fast time varying displacement and velocity of vibration. Firstly, the observed measurements are subjected to significantly lower levels of noise as a consequence of the narrowband demodulation process employed in the calculation of the orbital elements. Secondly, the EKF requires much lower update rate due to the slowly varying nature of the augmented states. These advantages result in a more accurate estimation, improved stability performance and the possibility for real time implementation of the EKF. Numerical simulation and offline implementation of the EKF using experimental gyroscope operation data are provided to validate the proposed method. Moreover, the identified damping imperfections have been used in the drift compensation control in a DSP based real time rate integrating gyroscope control system. Ultimately, the maximum angular drift has been reduced to 1° per second. Spectrum analysis shows the angle drift error is dominated by 4th harmonics caused by dynamics not included in the conventional gyroscope model.
TL;DR: In this article, the authors proposed a new dynamic model of a brake system that combines pad tangential motion and disk torsional motion to reduce the vibration and noise of the brake system.
TL;DR: In this article, an optical camera monitoring the dynamic behaviors of the flexible appendages is introduced under the restriction of the freedom of the actuators, and an appropriate control manage coefficient is obtained numerically.
TL;DR: Zhao and Van Wachem as mentioned in this paper proposed a predictor-corrector direct multiplication (PCDM) method for numerically integrating the rigid body equations of motion with rotation quaternions.
Abstract: Rotation quaternions are frequently used for describing the orientation of non-spherical rigid bodies. Their compact representation by four numbers and disappearance of numerical problems, such as gimbal lock, are reasons for using them. We describe an improvement of a predictor–corrector direct multiplication (PCDM) method for numerically integrating the rigid body equations of motion with rotation quaternions. The method only uses quaternions to describe the orientation, so no rotation matrices are needed in the implementation. A predictor–corrector approach is used to update the quaternions each time step, such that no renormalization is needed at the end of the time step. The PCDM method suggested by Zhao and Van Wachem is improved such that forces and torques are calculated at the correct time using position and orientation information at that same time. This is achieved by using a leapfrog approach in the improved version, in which the linear and angular velocities and rotation quaternions are defined at half time steps, while whole time step information of these quantities is calculated as part of the improved integration scheme. The improved PCDM scheme is compared with the original implementation for rotational kinetic energy conservation, accuracy of object orientation and angular velocity, and rate of convergence for different time steps. With the modifications that we propose, the improved method has a true second-order rate of convergence, without the need for explicit renormalization of the quaternions. Furthermore, the method is applicable to problems with position and velocity dependent torques, while still only a single force/torque evaluation is needed per time step. For objects experiencing torque, the improved PCDM method performs better than the original method, now showing a true second-order rate of convergence, and much smaller errors in the prediction of object orientation and angular velocity while still requiring only a single torque evaluation per time step.
TL;DR: The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements that does not use attitude information nor rate gyros as inputs, and establishes convergence using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation.
Abstract: The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.
TL;DR: In this article, a second-order sliding mode-based filter is developed to estimate the first time derivatives of attitude and position in finite time, instead of the translational and angular velocity variables, the estimated derivative values are used for the controller design.
Abstract: This paper studies an output feedback control problem for spacecraft position and attitude control when uncertainties related to system parameters and external disturbances are present. Firstly, a new finite-time control law is designed using second order sliding mode concepts. In the presence of external disturbances and inertia uncertainties, the new control law provides finite-time convergence and high tracking precision. Secondly, a new sliding-mode-based filter is developed to estimate the first time derivatives of attitude and position in finite time. Instead of the translational and angular velocity variables, the estimated derivative values are used for the controller design. The proposed controller with this filter is an output feedback controller since translational and angular velocity measurements are not required. The closed-loop system under this controller is non-homogeneous and the stability is proven by using concepts of a strong Lyapunov function and Lyapunov stability theory. The trajectories of the closed-loop system can be controlled to converge to a ball centered at the origin that can be made as small as desired. Numerical simulations of position and attitude control of spacecraft are given to demonstrate the performance of the proposed controller and filter.