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Observer design on the Special Euclidean group SE(3)

Date

2011

Authors

Hua, Minh-Duc
Zamani, Mohammad
Trumpf, Jochen
Mahony, Robert
Hamel, Tarek

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Special Euclidean group SE(3). We use a gradient-based observer design approach and ensure that the derived observer innovation can be implemented from position measurements. We prove local exponential stability of the error and instability of the non-zero critical points. Simulations indicate that the observer is indeed almost globally stable as would be expected.

Description

Keywords

Keywords: Critical points; Gradient based; Group structure; Local exponential stability; Observer design; Special Euclidean group; Control

Citation

Source

Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/CDC.2011.6160453

Restricted until

2037-12-31