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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-00485749 Contributor : François ChaplaisConnect in order to contact the contributor Submitted on : Friday, May 21, 2010 - 4:40:01 PM Last modification on : Monday, April 11, 2022 - 3:44:02 PM
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⟩