Non-Linear Symmetry-Preserving Observers on Lie Groups

In this technical note, we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit and intrinsic. We consider also a particular case...

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Veröffentlicht in:	IEEE transactions on automatic control 2009-07, Vol.54 (7), p.1709-1713
Hauptverfasser:	Bonnabel, S., Martin, P., Rouchon, P.
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Applied sciences Automatic control Computer science control theory systems Control systems Control theory. Systems Design engineering Errors Exact sciences and technology Inertial navigation invariance Lie group Lie groups Linear systems Lyapunov method Mathematical analysis Modelling and identification nonlinear asymptotic observer Observers Polynomials Robust stability Stability analysis Symmetry Time varying systems Trajectories
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