Active nonlinear observers for mobile systems
2004 (English)In: 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, 3898-3902 p.Conference paper (Refereed)
For nonlinear systems in general, the observability does not only depend on the initial conditions, but also on the control. This presents an interesting issue: how to design an observer together with the exciting control. In this paper a subproblem in the so called SLAM problem-the relocalization problem is studied, namely, observing the state of a mobile system based on distance sensor readings. An observer is proposed for a car-like robotic system.
Place, publisher, year, edition, pages
2004. 3898-3902 p.
, IEEE Conference On Decision And Control - Proceedings, ISSN 0191-2216
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-44336DOI: 10.1109/CDC.2004.1429346ISI: 000226745603091ScopusID: 2-s2.0-14244261993ISBN: 0-7803-8682-5OAI: oai:DiVA.org:kth-44336DiVA: diva2:451006
43rd IEEE Conference on Decision and Control Location: San Diego, CA Date: DEC 14-17, 2004
QC 201110242011-10-242011-10-202011-10-24Bibliographically approved