Higher Order Nonlinear Complementary Filtering on Lie Groups

DOI10.1109/TAC.2018.2845681zbMATH Open1482.93645arXiv1804.02414OpenAlexW2963544512WikidataQ115264365 ScholiaQ115264365MaRDI QIDQ5223686FDOQ5223686

James Richard Forbes, David Evan Zlotnik

Publication date: 18 July 2019

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it involves propagating the state estimate using a process model and corrects the propagated state estimate using an innovation term on the tangent space of the Lie group. In the proposed method, the innovation term is constructed by passing the gradient of an invariant cost function, resolved in a basis of the tangent space, through a linear time-invariant system. The introduction of the linear system completes the extension of linear complementary filters to nonlinear Lie group observers by allowing higher-order filtering. In practice, the proposed method allows for greater design freedom and, with the appropriate selection of the linear filter, the ability to filter bias and noise over specific bandwidths. A disturbance observer that accounts for constant and harmonic disturbances in group velocity measurements is also considered. Local asymptotic stability about the desired equilibrium point is demonstrated. A numerical example that demonstrates the desirable properties of the observer is presented in the context of pose estimation.

Full work available at URL: https://arxiv.org/abs/1804.02414

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Free motion of a rigid body (70E15) Observability (93B07) Nonlinear systems in control theory (93C10)

Cited In (3)

• Extended information filter on matrix Lie groups
• Nonlinear complementary filters on the special linear group
• Second-Order-Optimal Minimum-Energy Filters on Lie Groups

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