Title :
Observer design on the Special Euclidean group SE(3)
Author :
Hua, Minh-Duc ; Zamani, Mohammad ; Trumpf, Jochen ; Mahony, Robert ; Hamel, Tarek
Author_Institution :
Lab. I3S UNS, Sophia Antipolis, France
Abstract :
This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Special Euclidean group SE(3). We use a gradient-based observer design approach and ensure that the derived observer innovation can be implemented from position measurements. We prove local exponential stability of the error and instability of the non-zero critical points. Simulations indicate that the observer is indeed almost globally stable as would be expected.
Keywords :
Lie groups; asymptotic stability; control system synthesis; gradient methods; nonlinear control systems; observers; Lie group structure; SE(3); exponential stability; gradient-based observer design approach; nonlinear pose observer; nonzero critical points; observer innovation; position measurements; special Euclidean group; Asymptotic stability; Eigenvalues and eigenfunctions; Erbium; Observers; Stability analysis; Symmetric matrices; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160453