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Observers for kinematic systems with symmetry

Mahony, Robert; Trumpf, Jochen; Hamel, Tarek


This paper considers the design of nonlinear state observers for finite-dimensional equivariant kinematics of mechanical systems. The observer design problem is approached by lifting the system kinematics onto the symmetry group and designing an observer

CollectionsANU Research Publications
Date published: 2013
Type: Conference paper
Source: IFAC Proceedings Volumes (IFAC-PapersOnline)
DOI: 10.3182/20130904-3-FR-2041.00212


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