State estimation for invariant systems on Lie groups with delayed output measurements

DOI10.1016/j.automatica.2016.01.024zbMath1334.93167OpenAlexW2277104666WikidataQ115360104 ScholiaQ115360104MaRDI QIDQ273967

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel

Publication date: 22 April 2016

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2016.01.024

zbMATH Keywords

state estimationobserverspredictorspose estimationGPS delaymeasurement delaysystems on Lie groupsvelocity-aided attitude estimation

Mathematics Subject Classification ID

Estimation and detection in stochastic control theory (93E10) Stochastic stability in control theory (93E15) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (7)

State estimation for invariant systems on Lie groups with delayed output measurements ⋮ Extended information filter on matrix Lie groups ⋮ Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups ⋮ Gramian-based uniform convergent observer for stable LTV systems with delayed measurements ⋮ Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization ⋮ Robust estimation for LPV systems in the presence of non-uniform measurements ⋮ Formation Tracking of Nonholonomic Systems on the Special Euclidean Group under Fixed and Switching Topologies: An Affine Formation Strategy

Uses Software

• ArduPilot
• JSBSim
• GitHub
• MAVProxy

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• State estimation for invariant systems on Lie groups with delayed output measurements
• Global exponential sampled-data observers for nonlinear systems with delayed measurements
• Rigid body attitude estimation based on the Lagrange-d'Alembert principle
• An observer for a class of nonlinear systems with time varying observation delay
• A nonlinear position and attitude observer on SE(3) using landmark measurements
• Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
• Fundamentals of spacecraft attitude determination and control
• Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration
• Global optimal attitude estimation using uncertainty ellipsoids
• Nonlinear observer design in the presence of delayed output measurements
• Motion control of drift-free, left-invariant systems on Lie groups
• Nonlinear Complementary Filters on the Special Orthogonal Group
• Symmetry-Preserving Observers
• From Continuous-Time Design to Sampled-Data Design of Observers
• Gradient-Like Observers for Invariant Dynamics on a Lie Group
• Pose estimation using line-based dynamic vision and inertial sensors
• A new approach to state observation of nonlinear systems with delayed output
• The Invariant Extended Kalman Filter as a Stable Observer
• Cascade High Gain Predictors for a Class of Nonlinear Systems
• Rigid Body Attitude Control Using a Single Vector Measurement and Gyro
• Minimum-Energy Filtering for Attitude Estimation

This page was built for publication: State estimation for invariant systems on Lie groups with delayed output measurements