A bundle framework for observer design on smooth manifolds with symmetry

DOI10.3934/JGM.2021015MaRDI QIDQ2230359zbMATH OpenOpenAlexFDO

Authors Anant A. Joshi, Ravi N. Banavar, D. H. S. Maithripala

Publication date 17 September 2021

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1907.09234

zbMATH Keywords

observer designprincipal bundlefibre bundleLie group symmetrybundle structure

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Geometric methods (93B27) Lie groups (22E99) Observers (93B53)

Abstract: The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient structure and an orbit space, and the problem of observer design for the entire system gets decomposed to a design over the orbit (the group space) and a design over the quotient space. The emphasis throughout the article is on presenting an overarching geometric structure; the special case when the group action is free is given special emphasis. Gradient based observer design on a Lie group is given explicit attention. The concepts developed are illustrated by applying them on well known examples, which include the action of $mathbbSO(3)$ on $mathbb{R}^{3}setminus0$ and the simultaneous localisation and mapping (SLAM) problem.

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Cited in

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