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Gradient-Like Observers for Invariant Dynamics on a Lie Group

Lageman, Christian; Trumpf, Jochen; Mahony, Robert


This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of two dynamical systems is specialized to systems on Lie groups. For invariant systems this leads to a general factorization theorem of a nonlinear observer into a synchronous (internal model) term and an innovation term. The synchronous term is fully specified...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2009.2034937


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