Local Observers on Linear Lie Groups With Linear Estimation Error Dynamics
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چکیده
منابع مشابه
on the effect of linear & non-linear texts on students comprehension and recalling
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15 صفحه اولLinear ODEs in Lie groups
The solution of Y 0 = A(t)Y; Y (0) = Y0, where Y is in a matrical Lie group G and A(t) is in the Lie algebra of G, is discussed in this article. The basis of our approach are generalized iterated commutators. In that manner we can approximate the solution to an arbitrarily high order. The exact solution is given as an infinite series of commutators and order conditions are studied by using bina...
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We present a simple and inexpensive method for computing the estimates of error in a hierarchical linear radiosity method. Similar to the approach used in [1] for constant radiosity method, we compute lower and upper linear bounds of the actual radiosity function over the surface elements. We carry out this by computing linear upper and lower bounds of the kernel of the radiosity equation. Also...
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A vector eld on a connected Lie group is said to be linear if its ow is a one parameter group of automorphisms. A control-a ne system is linear if the drift is linear and the controlled vector elds right invariant. The controllability properties of such systems are studied, mainly in the case where the derivation of the group Lie algebra that can be associated to the linear vector eld is inner....
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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.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2014
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2014.2310331