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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Spring 2010 Seminar Series
Presents
Observers and Filters with Attitude: State Estimation for
Kinematic Systems on Finite-Dimensional Connected Lie-
Groups
Robert Mahony
Department of Engineering, Australian National University
Friday, April 30, 2010, 3:00 4:00pm WEBB 1101
Abstract:
This talk considers the considers the design of non-linear observers and deterministic filters for invari-
ant 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 con-
sidered 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 at-
titude estimation based on state or vector measurements is provided. The talk will also discuss some
recent results on a deterministic minimum energy filter for the attitude estimation problem.
About the Speaker:

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics