Blar i Institutt for maskinteknikk og produksjon på tidsskrift "IEEE Transactions on Automatic Control"
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Adaptive controller and observer design using open and closed-loop reference models for linear time-invariant systems with unknown dynamics
(Peer reviewed; Journal article, 2021)This article presents an output feedback controller and observer design approach for linear time-invariant systems with unknown dynamics. The presented method uses an open-loop reference model to generate the desired ... -
Lie Algebraic Unscented Kalman Filter for Pose Estimation
(Peer reviewed; Journal article, 2021)An unscented Kalman filter for matrix Lie groups is proposed where the time propagation of the state is formulated on the Lie algebra. This is done with the kinematic differential equation of the logarithm, where the inverse ...