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Observer design on the Special Euclidean group SE(3)

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dc.contributor.authorHua, Minh-Duc
dc.contributor.authorZamani, Mohammad
dc.contributor.authorTrumpf, Jochen
dc.contributor.authorMahony, Robert
dc.contributor.authorHamel, Tarek
dc.coverage.spatialOrlando USA
dc.date.accessioned2015-12-10T23:13:23Z
dc.date.createdDecember 12-15 2011
dc.date.issued2011
dc.date.updated2016-02-24T11:04:29Z
dc.description.abstractThis 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.
dc.identifier.urihttp://hdl.handle.net/1885/64402
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
dc.sourceProceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
dc.subjectKeywords: Critical points; Gradient based; Group structure; Local exponential stability; Observer design; Special Euclidean group; Control
dc.titleObserver design on the Special Euclidean group SE(3)
dc.typeConference paper
local.bibliographicCitation.lastpage8175
local.bibliographicCitation.startpage8169
local.contributor.affiliationHua, Minh-Duc, Institut des Systemes Intelligents et de Robotique (ISIR) UPMC-CNRS
local.contributor.affiliationZamani, Mohammad, College of Engineering and Computer Science, ANU
local.contributor.affiliationTrumpf, Jochen, College of Engineering and Computer Science, ANU
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.authoruidZamani, Mohammad, u4422883
local.contributor.authoruidTrumpf, Jochen, u4056317
local.contributor.authoruidMahony, Robert, u4033888
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.absseo970101 - Expanding Knowledge in the Mathematical Sciences
local.identifier.ariespublicationu4334215xPUB931
local.identifier.doi10.1109/CDC.2011.6160453
local.identifier.scopusID2-s2.0-84860701753
local.type.statusPublished Version

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