Non-linear Symmetry-preserving Observer on Lie Groups - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2009

Non-linear Symmetry-preserving Observer on Lie Groups

Silvère Bonnabel
  • Fonction : Auteur
  • PersonId : 866182
Philippe Martin
Pierre Rouchon

Résumé

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: left-invariant systems on Lie groups with right equivariant output. The theory yields a class of observers such that the error equation is autonomous. The observers converge locally around any trajectory, and the global behavior is independent from the trajectory, which is reminiscent of the linear stationary case.
Fichier principal
Vignette du fichier
NonLinear_Symmetry_Observers.pdf (116.08 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00447803 , version 1 (23-04-2010)

Identifiants

Citer

Silvère Bonnabel, Philippe Martin, Pierre Rouchon. Non-linear Symmetry-preserving Observer on Lie Groups. IEEE Transactions on Automatic Control, 2009, 54 (7), pp.1709 - 1713. ⟨10.1109/TAC.2009.2020646⟩. ⟨hal-00447803⟩
152 Consultations
220 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More