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State estimation for invariant systems on Lie groups with delayed output measurements

Khosravian, A; Trumpf, Jochen; Mahony, Robert; Hamel, Tarek


This paper proposes a state estimation methodology for invariant systems on Lie groups where outputs of the system are measured with delay. The proposed method is based on cascading an observer and a predictor. The observer uses delayed measurements and provides estimates of delayed states. The predictor uses those estimates together with the current inputs of the system to compensate for the delay and to provide a prediction of the current state of the system. We consider three classes of...[Show more]

CollectionsANU Research Publications
Date published: 2016
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2016.01.024


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