Observers for systems with invariant outputs
dc.contributor.author | Lageman, Christian | |
dc.contributor.author | Trumpf, Jochen | |
dc.contributor.author | Mahony, Robert | |
dc.coverage.spatial | TBC | |
dc.date.accessioned | 2015-12-10T23:26:44Z | |
dc.date.available | 2015-12-10T23:26:44Z | |
dc.date.created | August 23-26 2009 | |
dc.date.issued | 2009 | |
dc.date.updated | 2015-12-10T11:02:14Z | |
dc.description.abstract | In this paper we introduce a general design approach for observers for left-invariant systems on a Lie group with right-invariant outputs on a manifold. This situation is encountered for example in attitude estimation problems where only partial information of the state can be measured. We propose a gradient-like observer design on the output space which can be lifted to a gradient-like observer on the state space. The observer on the output space converges for generic initial conditions and has local exponential convergence properties. The lifted observer retains the same convergence properties with respect to the fibers of the output map. Our observer constructions are illustrated on the attitude estimation problem for a rigid body. | |
dc.identifier.isbn | 9783952417393 | |
dc.identifier.uri | http://hdl.handle.net/1885/67899 | |
dc.publisher | Conference Organising Committee | |
dc.relation.ispartofseries | 2009 10th European Control Conference, ECC 2009 | |
dc.source | 2009 European Control Conference, ECC 2009 | |
dc.title | Observers for systems with invariant outputs | |
dc.type | Conference paper | |
local.bibliographicCitation.lastpage | 4592 | |
local.bibliographicCitation.startpage | 4587 | |
local.contributor.affiliation | Lageman, Christian, College of Physical and Mathematical Sciences, ANU | |
local.contributor.affiliation | Trumpf, Jochen, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.contributor.authoremail | u4056317@anu.edu.au | |
local.contributor.authoruid | Lageman, Christian, u4433114 | |
local.contributor.authoruid | Trumpf, Jochen, u4056317 | |
local.contributor.authoruid | Mahony, Robert, u4033888 | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.absfor | 010109 - Ordinary Differential Equations, Difference Equations and Dynamical Systems | |
local.identifier.absfor | 090600 - ELECTRICAL AND ELECTRONIC ENGINEERING | |
local.identifier.absfor | 080100 - ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING | |
local.identifier.ariespublication | a383154xPUB1558 | |
local.identifier.scopusID | 2-s2.0-84928177494 | |
local.identifier.uidSubmittedBy | a383154 | |
local.type.status | Published Version |