Rigid body pose estimation based on the Lagrange-d'Alembert principle

DOI10.1016/J.AUTOMATICA.2016.04.028zbMATH Open1343.93082OpenAlexW4230068386MaRDI QIDQ313173FDOQ313173

Maziar Izadi, Amit K. Sanyal

Publication date: 9 September 2016

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2016.04.028

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zbMATH Keywords

pose estimationLagrange-d'Alembert principleLie group variational integratorvariational estimator

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control of mechanical systems (70Q05) Estimation and detection in stochastic control theory (93E10)

Cites Work

• 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.
• Discrete mechanics and variational integrators
• Morse Theory. (AM-51)
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• Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
• Global optimal attitude estimation using uncertainty ellipsoids
• Rigid body attitude estimation based on the Lagrange-d'Alembert principle
• Nonlinear Complementary Filters on the Special Orthogonal Group
• Pose estimation using line-based dynamic vision and inertial sensors
• Minimum-Energy Filtering for Attitude Estimation
• A nonlinear position and attitude observer on SE(3) using landmark measurements
• Maximum-likelihood recursive nonlinear filtering
• Almost global attitude stabilization of a rigid body for both internal and external actuation schemes
• Non-Linear Symmetry-Preserving Observers on Lie Groups
• Minimum-Energy State Estimation for Systems With Perspective Outputs
• An Almost Global Tracking Control Scheme for Maneuverable Autonomous Vehicles and its Discretization
• Inertial Vector Measurements Based Velocity-Free Attitude Stabilization
• Rigid-Body Attitude Control

Cited In (13)

• Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization
• Asymptotically stable optimal multi-rate rigid body attitude estimation based on Lagrange-d'Alembert principle
• Numerical algorithm for rigid body position estimation using the quaternion approach
• Structural, Syntactic, and Statistical Pattern Recognition
• Error analysis of Davenport's q method
• Geometric control of two quadrotors carrying a rigid rod with elastic cables
• Angular and linear velocity observer design using vector and landmark measurements
• Pose localization of leader-follower networks with direction measurements
• Iterative estimation of rigid-body transformations
• A geometric framework for rigid body attitude estimation
• Finite-time stable tracking control for an underactuated system in SE(3) in discrete time
• Discrete-time rigid body pose estimation based on Lagrange-d'Alembert principle
• Rigid-body pose and twist estimation using an accelerometer array

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