600 research outputs found
Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space
A nonlinear observer on the Special Euclidean group for full
pose estimation, that takes the system outputs on the real projective space
directly as inputs, is proposed. The observer derivation is based on a recent
advanced theory on nonlinear observer design. A key advantage with respect to
existing pose observers on is that we can now incorporate in a
unique observer different types of measurements such as vectorial measurements
of known inertial vectors and position measurements of known feature points.
The proposed observer is extended allowing for the compensation of unknown
constant bias present in the velocity measurements. Rigorous stability analyses
are equally provided. Excellent performance of the proposed observers are shown
by means of simulations
Output Regulation for Systems on Matrix Lie-group
This paper deals with the problem of output regulation for systems defined on
matrix Lie-Groups. Reference trajectories to be tracked are supposed to be
generated by an exosystem, defined on the same Lie-Group of the controlled
system, and only partial relative error measurements are supposed to be
available. These measurements are assumed to be invariant and associated to a
group action on a homogeneous space of the state space. In the spirit of the
internal model principle the proposed control structure embeds a copy of the
exosystem kinematic. This control problem is motivated by many real
applications fields in aerospace, robotics, projective geometry, to name a few,
in which systems are defined on matrix Lie-groups and references in the
associated homogenous spaces
Guaranteed Performance of Nonlinear Pose Filter on SE(3)
This paper presents a novel nonlinear pose filter evolved directly on the
Special Euclidean Group SE(3) with guaranteed characteristics of transient and
steady-state performance. The above-mention characteristics can be achieved by
trapping the position error and the error of the normalized Euclidean distance
of the attitude in a given large set and guiding them to converge
systematically to a small given set. The error vector is proven to approach the
origin asymptotically from almost any initial condition. The proposed filter is
able to provide a reliable pose estimate with remarkable convergence properties
such that it can be fitted with measurements obtained from low-cost measurement
units. Simulation results demonstrate high convergence capabilities and
robustness considering large error in initialization and high level of
uncertainties in measurements. Keywords: Pose, estimator, observer, attitude,
position, estimate, special orthogonal group, special Euclidean group,
prescribed performance, steady-state, transient response, homogeneous
transformation matrix, complimentary filter, mapping, Parameterization,
Representation, Robust, stability, uncertain, Gaussian, noise, vectorial
measurement, vector measurement, translational velocity, angular velocity,
singular value decomposition, rotational matrix, identity, deterministic,
comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie
group, projection, landmark, feature, gyroscope, micro electromechanical
systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation,
Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic
System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis,
SO(3), SE(3).Comment: 2019 American Control Conference (ACC
Guaranteed Performance of Nonlinear Pose Filter on SE(3)
This paper presents a novel nonlinear pose filter evolved directly on the
Special Euclidean Group SE(3) with guaranteed characteristics of transient and
steady-state performance. The above-mention characteristics can be achieved by
trapping the position error and the error of the normalized Euclidean distance
of the attitude in a given large set and guiding them to converge
systematically to a small given set. The error vector is proven to approach the
origin asymptotically from almost any initial condition. The proposed filter is
able to provide a reliable pose estimate with remarkable convergence properties
such that it can be fitted with measurements obtained from low-cost measurement
units. Simulation results demonstrate high convergence capabilities and
robustness considering large error in initialization and high level of
uncertainties in measurements. Keywords: Pose, estimator, observer, attitude,
position, estimate, special orthogonal group, special Euclidean group,
prescribed performance, steady-state, transient response, homogeneous
transformation matrix, complimentary filter, mapping, Parameterization,
Representation, Robust, stability, uncertain, Gaussian, noise, vectorial
measurement, vector measurement, translational velocity, angular velocity,
singular value decomposition, rotational matrix, identity, deterministic,
comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie
group, projection, landmark, feature, gyroscope, micro electromechanical
systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation,
Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic
System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis,
SO(3), SE(3).Comment: 2019 American Control Conference (ACC
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