Gradient-like observers on semidirect products

C. Lageman; J. Trumpf; R. Mahony

doi:10.23919/ecc.2009.7075021

Gradient-like observers on semidirect products

C. Lageman, J. Trumpf, R. Mahony

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › peer-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 language	English
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	https://doi.org/10.23919/ecc.2009.7075021
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

Conference

Conference	10th European Control Conference: ECC 2009
Abbreviated title	ECC
Country/Territory	Hungary
City	Budapest
Period	23/08/09 → 26/08/09
Internet address	http://ieeexplore.ieee.org/document/7074402/ http://ieeexplore.ieee.org/document/7074461/

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10.23919/ecc.2009.7075021

Cite this

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title = "Gradient-like observers on semidirect products",

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.",

author = "C. Lageman and J. Trumpf and R. Mahony",

note = "Publisher Copyright: {\textcopyright} 2009 EUCA.; 10th European Control Conference: ECC 2009, ECC ; Conference date: 23-08-2009 Through 26-08-2009",

year = "2014",

month = mar,

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doi = "10.23919/ecc.2009.7075021",

language = "English",

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Lageman, C, Trumpf, J & Mahony, R 2014, Gradient-like observers on semidirect products. in 2009 European Control Conference, ECC 2009., 7075021, 2009 European Control Conference, ECC 2009, Institute of Electrical and Electronics Engineers Inc., pp. 3973-3977, 10th European Control Conference: ECC 2009, Budapest, Hungary, 23/08/09. https://doi.org/10.23919/ecc.2009.7075021

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AU - Trumpf, J.

AU - Mahony, R.

N1 - Conference code: 10th

PY - 2014/3/26

Y1 - 2014/3/26

N2 - 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.

AB - 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.

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DO - 10.23919/ecc.2009.7075021

M3 - Conference Paper

T3 - 2009 European Control Conference, ECC 2009

SP - 3973

EP - 3977

BT - 2009 European Control Conference, ECC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 10th European Control Conference: ECC 2009

Y2 - 23 August 2009 through 26 August 2009

ER -

Gradient-like observers on semidirect products

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