An Observer Design and Separation Principle for the Motion of the n-dimensional Rigid Body

Abstract

In this paper an angular velocity observer for the motion of n-dimensional rigid body is proposed. To describe the motion of rigid body, the Hamiltonian formulation is employed and no local coordinate is specified on Lie group SO(n). Based on this approach, it is possible to focus on the intrinsic property of the system such as energy dissipation and to show closed-loop stability, a separation principle, which has been conjectured but not yet been shown.