A Second Order Minimum-Energy Filter on the Special Orthogonal Group

Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert

A Second Order Minimum-Energy Filter on the Special Orthogonal Group

Date

2012

Authors

Zamani, Mohammad

Trumpf, Jochen

Mahony, Robert

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

This work documents a case study in the application of Mortensen's nonlinear filtering approach to invariant systems on general Lie groups. In this paper, we consider the special orthogonal group SO(3) of all rotation matrices. We identify the exact form

Keywords

Keywords: Asymptotic tracking; Attitude estimation; Industry standards; Invariant systems; Optimal control problem; Optimal observers; Rotation matrices; Second orders; Second-order approximation; Special orthogonal group; Third order; Value functions; Dynamics; In

URI

http://hdl.handle.net/1885/65205

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ANU Research Publications

Source

Proceedings of the American Control Conference 2012

Type

Conference paper

Restricted until

2037-12-31

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01_Zamani_A_Second_Order_Minimum-Energy_2012.pdf (244.55 KB)

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A Second Order Minimum-Energy Filter on the Special Orthogonal Group

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