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Observers for kinematic systems with symmetry

Mahony, Robert; Trumpf, Jochen; Hamel, Tarek

Description

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
URI: http://hdl.handle.net/1885/81337
Source: IFAC Proceedings Volumes (IFAC-PapersOnline)
DOI: 10.3182/20130904-3-FR-2041.00212

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