Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
From MaRDI portal
(Redirected from Publication:1689339)
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.
Recommendations
- Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
- State estimation for invariant systems on Lie groups with delayed output measurements
- On Invariant Observers
- Linear observed systems on groups
- An exponential observer for systems on \(\mathrm{SE}(3)\) with implicit outputs
Cites work
- scientific article; zbMATH DE number 2129143 (Why is no real title available?)
- scientific article; zbMATH DE number 42072 (Why is no real title available?)
- scientific article; zbMATH DE number 1005873 (Why is no real title available?)
- scientific article; zbMATH DE number 1795895 (Why is no real title available?)
- scientific article; zbMATH DE number 3280665 (Why is no real title available?)
- A GES attitude observer with single vector observations
- A nonlinear position and attitude observer on SE(3) using landmark measurements
- Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements
- Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors
- Control systems on Lie groups
- Control theory from the geometric viewpoint.
- Gradient-Like Observers for Invariant Dynamics on a Lie Group
- Lie groups beyond an introduction
- Motion control of drift-free, left-invariant systems on Lie groups
- Non-Linear Symmetry-Preserving Observers on Lie Groups
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Nonlinear Complementary Filters on the Special Orthogonal Group
- Nonlinear systems.
- Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
- On the Stability of Nonautonomous Differential Equations $\dot x = [A + B(t)]x$, with Skew Symmetric Matrix $B(t)$
- On the Uniform Asymptotic Stability of Certain Linear Nonautonomous Differential Equations
- Pose estimation using line-based dynamic vision and inertial sensors
- Rigid Body Attitude Control Using a Single Vector Measurement and Gyro
- Second-Order-Optimal Minimum-Energy Filters on Lie Groups
- Symmetry-Preserving Observers
- Uniform exponential stability of linear time-varying systems: revisited.
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
- Non-Linear Symmetry-Preserving Observers on Lie Groups
- Modified integral control globally counters symmetry-breaking biases
- Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
- Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
- Rigid body pose estimation based on the Lagrange-d'Alembert principle
- Inertial-sensor bias estimation from brightness/depth images and based on \(SO(3)\)-invariant integro/partial differential equations on the unit sphere
- Linear observed systems on groups
- Local Observers on Linear Lie Groups With Linear Estimation Error Dynamics
- An exponential observer for systems on \(\mathrm{SE}(3)\) with implicit outputs
This page was built for publication: Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1689339)
