Rigid body pose estimation based on the Lagrange-d'Alembert principle

DOI10.1016/j.automatica.2016.04.028zbMath1343.93082OpenAlexW4230068386MaRDI QIDQ313173

Amit K. Sanyal, Maziar Izadi

Publication date: 9 September 2016

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2016.04.028

zbMATH Keywords

pose estimationLagrange-d'Alembert principleLie group variational integratorvariational estimator

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Estimation and detection in stochastic control theory (93E10) Control of mechanical systems (70Q05)

Related Items (9)

Error analysis of Davenport's q method ⋮ Numerical algorithm for rigid body position estimation using the quaternion approach ⋮ Finite-time stable tracking control for an underactuated system in SE(3) in discrete time ⋮ Geometric control of two quadrotors carrying a rigid rod with elastic cables ⋮ Discrete-time rigid body pose estimation based on Lagrange-d'Alembert principle ⋮ Angular and linear velocity observer design using vector and landmark measurements ⋮ Pose localization of leader-follower networks with direction measurements ⋮ A geometric framework for rigid body attitude estimation ⋮ Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization

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