Related papers: Local observers on linear Lie groups with linear e…

In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit…

Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…

This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown…

A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…

This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…

Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it involves propagating the state estimate using a process model…

This paper considers the design of nonlinear observers for invariant systems posed on finite-dimensional connected Lie groups with measurements generated by a transitive group action on an associated homogeneous space. We consider the case…

Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In particular, state observer error dynamics analysis in matrix…

In this paper, a machine learning based observer for systems evolving on manifolds is designed such that the state of the observer is restricted to the Lie group on which the system evolves. Conventional techniques involving machine…

This work introduces a learning-enhanced observer (LEO) for linear time-invariant systems with uncertain dynamics. Rather than relying solely on nominal models, the proposed framework treats the system matrices as optimizable variables and…

In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…

This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…

We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations. One of the main…

For linear time-invariant systems, a separation principle holds: stable observer and stable state feedback can be designed for the time-invariant system, and the combined observer and feedback will be stable. For non-linear systems, a local…

In this paper, a concurrent learning based adaptive observer is developed for a class of second-order linear time-invariant systems with uncertain system matrices. The developed technique yields an exponentially convergent state estimator…

This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…

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…

In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive…

This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…

This work deals with the problem of designing observers for the estimation of a single function of the states for discrete-time nonlinear systems. Necessary and sufficient conditions for the existence of lower order functional observers…