Globally exponentially convergent observer for systems evolving on matrix Lie groups
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916100305846272 |
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| author | Shanbhag, Soham Chang, Dong Eui |
| author_facet | Shanbhag, Soham Chang, Dong Eui |
| contents | We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence of the observer to the state of the system. We show the convergence with an example of a rigid body rotation and translation system on the special Euclidean group. We compare the proposed observer with an observer present in the literature. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_11189 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Globally exponentially convergent observer for systems evolving on matrix Lie groups Shanbhag, Soham Chang, Dong Eui Systems and Control We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence of the observer to the state of the system. We show the convergence with an example of a rigid body rotation and translation system on the special Euclidean group. We compare the proposed observer with an observer present in the literature. |
| title | Globally exponentially convergent observer for systems evolving on matrix Lie groups |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2401.11189 |