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

Silvère Bonnabel 1 Philippe Martin 2 Pierre Rouchon 2
1 Institut Montefiore - Department of Electrical Engineering and Computer Science
2 CAS - Centre Automatique et Systèmes
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.
Keywords : Lie group symmetries invariance nonlinear asymptotic observers inertial navigation
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Conference papers
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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

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  • 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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