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A Second Order Minimum-Energy Filter on the Special Orthogonal Group

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Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert

Description

This work documents a case study in the application of Mortensen's nonlinear filtering approach to invariant systems on general Lie groups. In this paper, we consider the special orthogonal group SO(3) of all rotation matrices. We identify the exact form

dc.contributor.authorZamani, Mohammad
dc.contributor.authorTrumpf, Jochen
dc.contributor.authorMahony, Robert
dc.coverage.spatialMontreal Canada
dc.date.accessioned2015-12-10T23:16:45Z
dc.date.createdJune 27-29 2012
dc.identifier.isbn9781457710957
dc.identifier.urihttp://hdl.handle.net/1885/65205
dc.description.abstractThis work documents a case study in the application of Mortensen's nonlinear filtering approach to invariant systems on general Lie groups. In this paper, we consider the special orthogonal group SO(3) of all rotation matrices. We identify the exact form
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesAmerican Control Conference 2012
dc.sourceProceedings of the American Control Conference 2012
dc.subjectKeywords: Asymptotic tracking; Attitude estimation; Industry standards; Invariant systems; Optimal control problem; Optimal observers; Rotation matrices; Second orders; Second-order approximation; Special orthogonal group; Third order; Value functions; Dynamics; In
dc.titleA Second Order Minimum-Energy Filter on the Special Orthogonal Group
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2012
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB1069
local.type.statusPublished Version
local.contributor.affiliationZamani, Mohammad, College of Engineering and Computer Science, ANU
local.contributor.affiliationTrumpf, Jochen, College of Engineering and Computer Science, ANU
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage1895
local.bibliographicCitation.lastpage1900
local.identifier.absseo970109 - Expanding Knowledge in Engineering
local.identifier.absseo970101 - Expanding Knowledge in the Mathematical Sciences
dc.date.updated2016-02-24T10:57:17Z
local.identifier.scopusID2-s2.0-84869419970
CollectionsANU Research Publications

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