Nonlinear state estimation for rigid-body motion with low-pass sensors

被引：34

作者：

Rehbinder, H ^{[1
]}

Hu, XM ^{[1
]}

机构：

[1] Royal Inst Technol, Div Optimizat & Syst Theory, S-10044 Stockholm, Sweden

来源：

SYSTEMS & CONTROL LETTERS | 2000年 / 40卷 / 03期

关键词：

nonlinear state estimation; rigid body motion; linear time-varying systems; exponential observers; inclinometers; rate gyros;

D O I：

10.1016/S0167-6911(00)00022-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2000 Elsevier Science B.V. All rights reserved.

引用

页码：183 / 190

页数：8

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