Gradient-like observers on semidirect products

C. Lageman, J. Trumpf, R. Mahony

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    1 Citation (Scopus)

    Abstract

    This paper proposes a simple full state observer design for invariant state space systems where the state is evolving on a semidirect product of connected, finite-dimensional Lie groups. The design is based on a pair of cost functions defined on the Lie groups and consists of a copy of the observed system and a gradient-like innovation term. Under mild conditions the observer displays almost global exponential convergence. We illustrate the construction by an application in pose estimation.

    Original languageEnglish
    Title of host publication2009 European Control Conference, ECC 2009
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3973-3977
    Number of pages5
    ISBN (Electronic)9783952417393
    DOIs
    Publication statusPublished - 26 Mar 2014
    Event10th European Control Conference: ECC 2009 - Budapest, Hungary
    Duration: 23 Aug 200926 Aug 2009
    Conference number: 10th
    http://ieeexplore.ieee.org/document/7074402/
    http://ieeexplore.ieee.org/document/7074461/

    Publication series

    Name2009 European Control Conference, ECC 2009

    Conference

    Conference10th European Control Conference: ECC 2009
    Abbreviated titleECC
    Country/TerritoryHungary
    CityBudapest
    Period23/08/0926/08/09
    Internet address

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