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 language | English |
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Title of host publication | 2009 European Control Conference, ECC 2009 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3973-3977 |
Number of pages | 5 |
ISBN (Electronic) | 9783952417393 |
DOIs | |
Publication status | Published - 26 Mar 2014 |
Event | 10th European Control Conference: ECC 2009 - Budapest, Hungary Duration: 23 Aug 2009 → 26 Aug 2009 Conference number: 10th http://ieeexplore.ieee.org/document/7074402/ http://ieeexplore.ieee.org/document/7074461/ |
Publication series
Name | 2009 European Control Conference, ECC 2009 |
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Conference
Conference | 10th European Control Conference: ECC 2009 |
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Abbreviated title | ECC |
Country/Territory | Hungary |
City | Budapest |
Period | 23/08/09 → 26/08/09 |
Internet address |