View in EDS

Globally exponentially convergent observer for systems evolving on matrix Lie groups.

Saved in:
Bibliographic Details
Title: Globally exponentially convergent observer for systems evolving on matrix Lie groups.
Authors: Shanbhag, Soham1 (AUTHOR) sshanbhag@kaist.ac.kr, Chang, Dong Eui1 (AUTHOR) dechang@kaist.ac.kr
Source: Mathematics & Computers in Simulation. Jun2025, Vol. 232, p475-482. 8p.
Subjects: Lie groups, Continuous groups, Group velocity, Rigid bodies, Robotics, Rotational motion
Abstract: The estimate of a system state, arrived at using measurements, is often used in design of state controllers in robotics. These measurements are often biased and contain noise. Many such systems usually evolve on matrix Lie groups. In this paper, we propose a globally exponentially convergent observer for systems evolving on matrix Lie groups with bounded velocity. The design of observers on the Lie group prohibits continuous globally convergent observers, which we sidestep by designing the observer in the ambient Euclidean space of the group and show exponential convergence of the observer to the state of the system. The performance of the observer is shown using an example of the rigid body rotation and translation system evolving on the special Euclidean group. We also compare the proposed observer with an observer present in the literature and show the improvements afforded by our observer. [ABSTRACT FROM AUTHOR]
Copyright of Mathematics & Computers in Simulation is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
FullText Text:
  Availability: 0
Header DbId: egs
DbLabel: Engineering Source
An: 183278136
AccessLevel: 6
PubType: Periodical
PubTypeId: serialPeriodical
PreciseRelevancyScore: 0
IllustrationInfo
Items – Name: Title
  Label: Title
  Group: Ti
  Data: Globally exponentially convergent observer for systems evolving on matrix Lie groups.
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Shanbhag%2C+Soham%22">Shanbhag, Soham</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> sshanbhag@kaist.ac.kr</i><br /><searchLink fieldCode="AR" term="%22Chang%2C+Dong+Eui%22">Chang, Dong Eui</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> dechang@kaist.ac.kr</i>
– Name: TitleSource
  Label: Source
  Group: Src
  Data: <searchLink fieldCode="JN" term="%22Mathematics+%26+Computers+in+Simulation%22">Mathematics & Computers in Simulation</searchLink>. Jun2025, Vol. 232, p475-482. 8p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Lie+groups%22">Lie groups</searchLink><br /><searchLink fieldCode="DE" term="%22Continuous+groups%22">Continuous groups</searchLink><br /><searchLink fieldCode="DE" term="%22Group+velocity%22">Group velocity</searchLink><br /><searchLink fieldCode="DE" term="%22Rigid+bodies%22">Rigid bodies</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Rotational+motion%22">Rotational motion</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: The estimate of a system state, arrived at using measurements, is often used in design of state controllers in robotics. These measurements are often biased and contain noise. Many such systems usually evolve on matrix Lie groups. In this paper, we propose a globally exponentially convergent observer for systems evolving on matrix Lie groups with bounded velocity. The design of observers on the Lie group prohibits continuous globally convergent observers, which we sidestep by designing the observer in the ambient Euclidean space of the group and show exponential convergence of the observer to the state of the system. The performance of the observer is shown using an example of the rigid body rotation and translation system evolving on the special Euclidean group. We also compare the proposed observer with an observer present in the literature and show the improvements afforded by our observer. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Mathematics & Computers in Simulation is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=183278136
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1016/j.matcom.2025.01.013
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 8
        StartPage: 475
    Subjects:
      – SubjectFull: Lie groups
        Type: general
      – SubjectFull: Continuous groups
        Type: general
      – SubjectFull: Group velocity
        Type: general
      – SubjectFull: Rigid bodies
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Rotational motion
        Type: general
    Titles:
      – TitleFull: Globally exponentially convergent observer for systems evolving on matrix Lie groups.
        Type: main
  BibRelationships:
    HasContributorRelationships:
      – PersonEntity:
          Name:
            NameFull: Shanbhag, Soham
      – PersonEntity:
          Name:
            NameFull: Chang, Dong Eui
    IsPartOfRelationships:
      – BibEntity:
          Dates:
            – D: 01
              M: 06
              Text: Jun2025
              Type: published
              Y: 2025
          Identifiers:
            – Type: issn-print
              Value: 03784754
          Numbering:
            – Type: volume
              Value: 232
          Titles:
            – TitleFull: Mathematics & Computers in Simulation
              Type: main
ResultId 1