NDLI: Local Observers on Linear Lie Groups With Linear Estimation Error Dynamics

Content Provider	IEEE Xplore Digital Library
Author	Koldychev, M. Nielsen, C.
Copyright Year	1963
Abstract	This technical note proposes local exponential observers for systems on linear Lie groups. We study two classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In the second class, only part of the system's state evolves on a linear Lie group and this portion of the state is available for measurement. In each case, we propose two different observer designs. We show that, depending on the observer chosen, local exponential stability of one of the two observation error dynamics, left- or right-invariant error dynamics, is obtained. For the first class of systems these results are developed by showing that the estimation error dynamics are differentially equivalent to a stable linear differential equation on a vector space. For the second class of system, the estimation error dynamics are almost linear. We illustrate these observer designs on an attitude estimation problem.
Sponsorship	IEEE Control Systems Society
Starting Page	2772
Ending Page	2777
Page Count	6
File Size	307044
File Format	PDF
ISSN	00189286
Volume Number	59
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Differential equations Erbium Vectors Estimation error Equations Ink Exponential stability State estimation Linear Lie groups state estimation linear lie groups
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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