Observer design on the Special Euclidean group SE(3)
Date
2011
Authors
Hua, Minh-Duc
Zamani, Mohammad
Trumpf, Jochen
Mahony, Robert
Hamel, Tarek
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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.
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Keywords
Keywords: Critical points; Gradient based; Group structure; Local exponential stability; Observer design; Special Euclidean group; Control
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Source
Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
Type
Conference paper
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Restricted until
2037-12-31
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