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Using symbolic computation to solve algebraic Riccati equations arising in invariant filtering

Abstract : This paper proposes a new step in the development of invariant observers. In the past, this theory led to impressive simplifications of the error equations encountered in estimation problems, especially those related to navigation. This was used to reduce computation load or derive new theoretical properties. Here, we leverage this advantage to obtain closed-form solutions of the underlying algebraic Riccati equations through advanced symbolic computation methods.
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https://hal.inria.fr/hal-01667341
Contributor : Alban Quadrat Connect in order to contact the contributor
Submitted on : Tuesday, December 19, 2017 - 11:54:19 AM
Last modification on : Friday, February 4, 2022 - 3:23:15 AM

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  • HAL Id : hal-01667341, version 1

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Axel Barrau, Guillaume Rance, Yacine Bouzidi, Alban Quadrat, Arnaud Quadrat. Using symbolic computation to solve algebraic Riccati equations arising in invariant filtering. ECC2018 - European Control Conference, Jun 2018, Limassol, Cyprus. ⟨hal-01667341⟩

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