# A Simple Intrinsic Reduced-Observer for Geodesic Flow $ $

@article{Bonnabel2008ASI, title={A Simple Intrinsic Reduced-Observer for Geodesic Flow \$ \$}, author={Silv{\'e}re Bonnabel}, journal={IEEE Transactions on Automatic Control}, year={2008}, volume={55}, pages={2186-2191} }

Aghannan and Rouchon proposed a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements. The (position and velocity) observer is based on the Riemannian structure of the configuration manifold endowed with the kinetic energy metric and is intrinsic. They proved local convergence. When the system is conservative, we propose an intrinsic reduced order (velocity) observer based on the Jacobi metric, which…

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