A bundle framework for observer design on smooth manifolds with symmetry

DOI10.3934/JGM.2021015zbMATH Open1471.93069arXiv1907.09234OpenAlexW2964281847MaRDI QIDQ2230359FDOQ2230359

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)

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.

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

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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)

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