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arXiv · 1805.00897

On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)

Miaomiao Wang·Abdelhamid Tayebi
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Abstract

This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on $SE(3)\times \mathbb{R}^6$ for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed observer is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed observer leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.

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Miaomiao Wang, Abdelhamid Tayebi. 2018-05-02. On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3). https://doi.org/10.1109/tac.2018.2879766

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