Non-linear observer on Lie Groups for left-invariant dynamics with right-left equivariant output ⋆
نویسندگان
چکیده
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.
منابع مشابه
Non-linear observer on Lie Groups for left-invariant dynamics with right compatible outputs
We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is compatible with right multiplications, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example. Index Terms Lie group, symmetries, invariance, nonlinear asymptotic observers, inertial navigation.
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