Gradient-Like Observers for Invariant Dynamics on a Lie Group

This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of two dynamical systems is specialized to systems on Lie groups...

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Veröffentlicht in:	IEEE transactions on automatic control 2010-02, Vol.55 (2), p.367-377
Hauptverfasser:	Lageman, C., Trumpf, J., Mahony, R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithm design and analysis Applied sciences Computer science control theory systems Control system analysis Control theory. Systems Design engineering Design methodology Dynamical systems Exact sciences and technology Fundamental areas of phenomenology (including applications) Gradient systems Invariants Kinematics Lie groups Modelling and identification Nonlinear dynamical systems Nonlinear dynamics Nonlinearity Observers Physics Robust stability Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics State estimation State-space methods Synchronous synchrony Technological innovation Vehicle dynamics
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