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dc.contributor.authorKoldychev, Mikhail
dc.contributor.authorNielsen, Christopher
dc.date.accessioned2021-09-23 18:51:25 (GMT)
dc.date.available2021-09-23 18:51:25 (GMT)
dc.date.issued2014-03-06
dc.identifier.urihttps://doi.org/10.1109/TAC.2014.2310331
dc.identifier.urihttp://hdl.handle.net/10012/17501
dc.descriptionKoldychev, M., & Nielsen, C. (2014). Local Observers on Linear Lie Groups With Linear Estimation Error Dynamics. IEEE Transactions on Automatic Control, 59(10), 2772–2777. https://doi.org/10.1109/TAC.2014.2310331en
dc.description.abstractThis technical note proposes local exponential observers for systems on linear Lie groups. We study two classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In the second class, only part of the system's state evolves on a linear Lie group and this portion of the state is available for measurement. In each case, we propose two different observer designs. We show that, depending on the observer chosen, local exponential stability of one of the two observation error dynamics, left- or right-invariant error dynamics, is obtained. For the first class of systems these results are developed by showing that the estimation error dynamics are differentially equivalent to a stable linear differential equation on a vector space. For the second class of system, the estimation error dynamics are almost linear. We illustrate these observer designs on an attitude estimation problem.en
dc.description.sponsorshipSupported by the Natural Sciences and Engineering Research Council of Canada (NSERC).en
dc.language.isoenen
dc.publisherIEEEen
dc.relation.ispartofseries;IEEE Transactions on Automatic Control
dc.subjectState estimationen
dc.subjectLinear Lie groupsen
dc.subjectExponential stabilityen
dc.titleLocal observers on linear Lie groups with linear estimation error dynamicsen
dc.typeArticleen
dcterms.bibliographicCitationKoldychev, M., & Nielsen, C. (2014). Local Observers on Linear Lie Groups With Linear Estimation Error Dynamics. IEEE Transactions on Automatic Control, 59(10), 2772–2777. https://doi.org/10.1109/TAC.2014.2310331en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen
uws.typeOfResourceTexten
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen


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