On the distance to optimality of the geometric approximate minimum-energy attitude filter

Mohammad Zamani, Jochen Trumpf, Robert Mahony

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

    7 Citations (Scopus)

    Abstract

    This paper studies the near-optimality of the recent geometric approximate minimum-energy (GAME) filter, an attitude filter for estimation on the rotation group SO(3). The GAME filter approximates the minimum-energy (optimal) filtering solution by truncating the derivatives of the associated value function of order higher than 2. In this work, this approximation is pinned down in terms of an analytic expression for a bound on the difference between the cost attained by the GAME filter and the minimum-energy cost. This bound, called the optimality gap, is shown to be small in normal operating conditions. This is further supported by simulations.

    Original languageEnglish
    Title of host publication2014 American Control Conference, ACC 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages4943-4948
    Number of pages6
    ISBN (Print)9781479932726
    DOIs
    Publication statusPublished - 2014
    Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
    Duration: 4 Jun 20146 Jun 2014

    Publication series

    NameProceedings of the American Control Conference
    ISSN (Print)0743-1619

    Conference

    Conference2014 American Control Conference, ACC 2014
    Country/TerritoryUnited States
    CityPortland, OR
    Period4/06/146/06/14

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