Seminar Details
2010-06-22 (12:00) : Observers and filters with attitude: State estimation for kinematic systems on finite-dimensional connected Lie-groups
At Euler building
Organized by Mathematical Engineering
Speaker :
Mahony, R.
Abstract :
This talk considers the design of non-linear observers for invariant kinematic systems posed on finite-dimensional connected Lie groups,
and in particular on the group of rotations SO(3). Both the case of full-state measurements and partial-state measurements are considered
with the measurement process modelled by a transitive group action acting on a homogeneous manifold. Concepts of synchrony (between
observer and the plant) and invariant innovations are used to provide a structure theory for observer design. A detailed discussion of
the case of observers for attitude estimation based on state or vector measurements is provided.