Hua, Minh-Duc; Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert; Hamel, Tarek
This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Special Euclidean group SE(3). We use a gradient-based observer design approach and ensure that the derived observer innovation can be implemented from position measurements. We prove local exponential stability of the error and instability of the non-zero critical points. Simulations indicate that the observer is indeed almost globally stable as would be expected.
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