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State observers for control systems with symmetry

Title
State observers for control systems with symmetry
Funding
ARC | Discovery Projects
Contract (GA) number
DP0987411
Start Date
2009/01/01
End Date
2011/12/31
Open Access mandate
no
Organizations
-
More information
http://purl.org/au-research/grants/arc/DP0987411

 

  • Feature-based Recursive Observer Design for Homography Estimation

    Hua, Minh-Duc; Trumpf, Jochen; Hamel, Tarek; Mahony, Robert; Morin, Pascal (2016)
    Projects: ARC | State observers for control systems with symmetry (DP0987411)
    This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group structure of the set of homographies along with gyroscope measurements and direct point-feature correspondences between images to develop temporal filter for the homography estimate. Theoretical analysis and experimental results are provided to demonstra...

    An internal model principle for observers

    Trumpf, Jochen; Trentelman, Harry L.; Willems, Jan C. (2011)
    Projects: EC | HD-MPC (223854), ARC | State observers for control systems with symmetry (DP0987411)
    This paper deals with the observer problem for dynamical systems in a behavioral context. We are given a dynamical system together with a partition of the system variables into a set of known or measured variables and a set of unknown, to be estimated variables. The observer problem is to find a system that produces an estimate of the unknown variables on the basis of the known or measured variables. For a given plant and partition, we establish a characterization of all error behaviors that ...
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