Nonlinear state estimation for rigid-body motion with low-pass sensors
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
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.
nonlinear state estimation, rigid body motion, linear time-varying, systems, exponential observers, inclinometers, rate gyros
IdentifiersURN: urn:nbn:se:kth:diva-20186ISI: 000165576000005OAI: oai:DiVA.org:kth-20186DiVA: diva2:338879
QC 201005252010-08-102010-08-10Bibliographically approved