Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs

DOI10.1016/J.AUTOMATICA.2015.02.030zbMATH Open1378.93024arXiv1507.03770OpenAlexW2143083305WikidataQ115360108 ScholiaQ115360108MaRDI QIDQ1689339FDOQ1689339

Authors: Alireza Khosravian, Jochen Trumpf, Robert Mahony, Christian Lageman 

Publication date: 12 January 2018

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown constant bias. The key contribution of the paper is to study the combined state and input bias estimation problem in the general setting of Lie groups, a question for which only case studies of specific Lie groups are currently available. We show that any candidate observer (with the same state space dimension as the observed system) results in non-autonomous error dynamics, except in the trivial case where the Lie-group is Abelian. This precludes the application of the standard non-linear observer design methodologies available in the literature and leads us to propose a new design methodology based on employing invariant cost functions and general gain mappings. We provide a rigorous and general stability analysis for the case where the underlying Lie group allows a faithful matrix representation. We demonstrate our theory in the example of rigid body pose estimation and show that the proposed approach unifies two competing pose observers published in prior literature.

Full work available at URL: https://arxiv.org/abs/1507.03770

Recommendations

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zbMATH Keywords

adaptive controlLie groupsnonlinear systemssymmetriesLyapunov stabilityobserversattitude control

Mathematics Subject Classification ID

Observability (93B07) Nonlinear systems in control theory (93C10) Stability of control systems (93D99) Algebraic methods (93B25)

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Cited In (13)

• Nonlinear state estimation for inertial navigation systems with intermittent measurements
• State estimation for invariant systems on Lie groups with delayed output measurements
• On Invariant Observers
• A bundle framework for observer design on smooth manifolds with symmetry
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• An exponential observer for systems on \(\mathrm{SE}(3)\) with implicit outputs

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