Skip to Main content Skip to Navigation
Conference papers

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

Abstract : 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.
Document type :
Conference papers
Complete list of metadatas

https://hal-mines-paristech.archives-ouvertes.fr/hal-00485749
Contributor : François Chaplais <>
Submitted on : Friday, May 21, 2010 - 4:40:01 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

Identifiers

  • HAL Id : hal-00485749, version 1

Citation

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⟩

Share

Metrics

Record views

149