Change search
ReferencesLink to record
Permanent link

Direct link
Nonlinear state estimation for rigid-body motion with low-pass sensors
KTH, Superseded Departments, Mathematics.ORCID iD: 0000-0003-0177-1993
2000 (English)In: Systems & control letters (Print), ISSN 0167-6911, E-ISSN 1872-7956, Vol. 40, no 3, 183-190 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we consider the state estimation problem for the nonlinear kinematic equations of a rigid body observed under low-pass sensors. The problem is motivated from a walking robot application where inclinometers and gyros are the sensors used. We show that a non-local high gain observer exists for the nonlinear rigid-body kinematic equations and that it under a small angle assumption is possible to use one inclinometer only to estimate two angles.

Place, publisher, year, edition, pages
2000. Vol. 40, no 3, 183-190 p.
Keyword [en]
nonlinear state estimation, rigid body motion, linear time-varying, systems, exponential observers, inclinometers, rate gyros
URN: urn:nbn:se:kth:diva-20186ISI: 000165576000005OAI: diva2:338879
QC 20100525Available from: 2010-08-10 Created: 2010-08-10Bibliographically approved

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
In the same journal
Systems & control letters (Print)

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 37 hits
ReferencesLink to record
Permanent link

Direct link