14 citations · 26 across the 8 of their papers we have counts for
4 papers · 2 filters
Invariant extended Kalman filter on matrix Lie groups
Karmvir Singh Phogat, Dong Eui Chang
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the…
Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Eucl…
Design of Globally Exponentially Convergent Continuous Observers for Velocity Bias and State for Systems on Real Matrix Groups
Dong Eui Chang
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurem…
Attitude Observer on SO(3) with Time-Varying Reference Directions
Kanishke Gamagedara, Taeyoung Lee, Dong Eui Chang
This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude obs…