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Observers for kinematic systems with symmetry

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Mahony, Robert; Trumpf, Jochen; Hamel, Tarek

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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

dc.contributor.authorMahony, Robert
dc.contributor.authorTrumpf, Jochen
dc.contributor.authorHamel, Tarek
dc.coverage.spatialToulouse France
dc.date.accessioned2015-12-13T22:51:58Z
dc.date.createdSeptember 4-6 2013
dc.identifier.isbn9783902823472
dc.identifier.urihttp://hdl.handle.net/1885/81337
dc.description.abstractThis 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
dc.publisherConference Organising Committee
dc.relation.ispartofseries9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013
dc.sourceIFAC Proceedings Volumes (IFAC-PapersOnline)
dc.subjectKeywords: Control Lyapunov function; Internal modeling; Kinematic systems; Mechanical systems; Observer errors; Observer structure; Strong convergence; System kinematics; Kinematics; Machine design; Nonlinear control systems; Quantum theory; Structural design
dc.titleObservers for kinematic systems with symmetry
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2013
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationf5625xPUB9651
local.type.statusPublished Version
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationTrumpf, Jochen, College of Engineering and Computer Science, ANU
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.description.embargo2037-12-31
local.bibliographicCitation.startpage617
local.bibliographicCitation.lastpage633
local.identifier.doi10.3182/20130904-3-FR-2041.00212
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T09:45:58Z
local.identifier.scopusID2-s2.0-84885821726
CollectionsANU Research Publications

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