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Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs

Khosravian Hemami, Alireza; Trumpf, Jochen; Mahony, Robert; Lageman, Christian


This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown constant bias. The key contribution of the paper is to study the combined state and input bias estimation problem in the general setting of Lie groups, a question for which only case studies of specific Lie groups are currently available. We show that any...[Show more]

CollectionsANU Research Publications
Date published: 2015
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2015.02.030


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