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eess.SY2026
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
eess.SY2025
The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
Yixiao Ge, Pieter van Goor, Robert Mahony
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear…