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Observers for kinematic systems with symmetry

Date

Authors

Mahony, Robert

Trumpf, Jochen

Hamel, Tarek

Publisher

Conference Organising Committee

Abstract

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

Keywords

Keywords: 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

URI

http://hdl.handle.net/1885/81337

Collections

ANU Research Publications

Source

IFAC Proceedings Volumes (IFAC-PapersOnline)

Type

Conference paper

DOI

10.3182/20130904-3-FR-2041.00212

Restricted until

2037-12-31

Downloads

File

Description

01_Mahony_Observers_for_kinematic_2013.pdf (430.49 KB)