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Communication Dans Un Congrès Année : 2008

Non-linear observer on Lie Groups for left-invariant dynamics with right-equivariant output

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Résumé

We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.
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Dates et versions

hal-00485749 , version 1 (21-05-2010)

Identifiants

  • HAL Id : hal-00485749 , version 1

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Silvère Bonnabel, Philippe Martin, Pierre Rouchon. Non-linear observer on Lie Groups for left-invariant dynamics with right-equivariant output. 2008 IFAC World Congress, Jul 2008, Seoul, South Korea. pp.8594-8598. ⟨hal-00485749⟩
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