Geometric observer theory for mechanical control systems

This project will contribute to the fundamental science and technology underlying the operation of controlled mechatronic systems, from drone aircraft for monitoring and surveillance tasks through to autonomous household helpers and robotic toys. Most such systems can be modeled using a particular mathematical structure, a so called fibre bundle structure, deriving from the invariance of the physical laws that underpin their dynamics. The project will exploit this structure to design computationally tractable state observers that are more stable and more robust than existing algorithms, leading to improved safety and performance for a wide range of mechatronic systems that are pervasive in society.