A non-linear symmetry-preserving observer for velocity-aided inertial navigation

被引：27

作者：

Bonnabel, Silvere ^{[1
]}

Martin, Philippe ^{[1
]}

Rouchon, Pierre ^{[1
]}

机构：

[1] Ecole Mines Paris, Ctr Automat & Syst, 60 Blvd St Michel, F-75272 Paris 06, France

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

10.1109/ACC.2006.1657161

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A first theory of invariant observers is developed. An invariant observer is an observer which respects the symmetries of the system equations. As an illustration of the theory, a nonlinear invariant observer for velocity-aided inertial navigation is proposed and analyzed.

引用

页码：2910 / +

页数：2

共 10 条

[1]

Aghannan N, 2002, IEEE DECIS CONTR P, P1479, DOI 10.1109/CDC.2002.1184728

[2] An intrinsic observer for a class of Lagrangian systems [J].

Aghannan, N ;

Rouchon, P .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :936-945

[3] REPRESENTATIONS OF SYMMETRICAL LINEAR DYNAMICAL-SYSTEMS [J].

FAGNANI, F ;

WILLEMS, J .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 1993, 31 (05) :1267-1293

[4] THE STRUCTURE OF NONLINEAR CONTROL-SYSTEMS POSSESSING SYMMETRIES [J].

GRIZZLE, JW ;

MARCUS, SI .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1985, 30 (03) :248-258

[5] Invariant tracking [J].

Martin, P ;

Rouchon, P ;

Rudolph, J .

ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS, 2004, 10 (01) :1-13

[6]

Olver P., 1995, Equivalence, invariants and symmetry, DOI [10.1017/CBO9780511609565, DOI 10.1017/CBO9780511609565]

[7]

Olver P.J., 1999, Classical invariant theory

[8] Nonlinearizable single-input control systems do not admit stationary symmetries [J].

Respondek, W ;

Tall, IA .

SYSTEMS & CONTROL LETTERS, 2002, 46 (01) :1-16

[9] Controlled symmetries and passive walking [J].

Spong, MW ;

Bullo, F .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (07) :1025-1031

[10] SYMMETRIES IN OPTIMAL-CONTROL [J].

VANDERSCHAFT, AJ .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 1987, 25 (02) :245-259

← 1 →