Global Pose and Velocity-Bias Observer Design on SE(3) Using Synergistic-Based Hybrid Method

This paper presents an approach for the design of globally asymptotically stable pose and velocity-bias observers. Based on the generic framework for pose and velocity-bias observers, we construct synergistic potential functions on SE(3) and SO(3) via angular warping and use the gradients of the formers to construct innovation terms. Under the synergistic-based hybrid method, different potential functions are selected along with the innovation terms to avoid the undesired critical points on the manifold. The proposed observer can be expressed in terms of measurements and modified measurements in some cases. Simulations are also conducted to show the advantages of the synergistic-based hybrid observer over the reset-based hybrid observer.