Output Regulation for Control Systems on SE(n): A Separation Principle Based Approach

This technical note considers a solution to an output regulation problem for control systems on the special Euclidean group SE(n). The proposed solution consists of a convergent observer together with a certainty equivalence implementation of an almost globally stable state feedback law. The design of the observer and the state feedback are carried out independently. We show that all closed loop solutions remain bounded, that the steady-state solution is contained in exactly one of a finite number of isolated sets which are all unstable except one, which is the desired equilibrium set and which is asymptotically stable.