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Observers for systems with invariant outputs

Lageman, Christian; Trumpf, Jochen; Mahony, Robert


In this paper we introduce a general design approach for observers for left-invariant systems on a Lie group with right-invariant outputs on a manifold. This situation is encountered for example in attitude estimation problems where only partial information of the state can be measured. We propose a gradient-like observer design on the output space which can be lifted to a gradient-like observer on the state space. The observer on the output space converges for generic initial conditions and...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: 2009 European Control Conference, ECC 2009


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