We derive an exact deterministic nonlinear estimator to compute the continuous state of a nonlinear time-varying system based on discrete, non uniformly time spaced, state measurements. The system consists of a robot arm mounted on a mobile non holonomic vehicle. The paper also discusses the effect on the estimation error of a bounded input additive noise.
Alonge, F., D'Ippolito, F. (2011). State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements. In Proceedings of 18th World Congress The International Federation of Automatic Control (pp.11526-11531). IFAC [10.3182/20110828-6-IT-1002.00530].
State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements
ALONGE, Francesco;D'IPPOLITO, Filippo
2011-01-01
Abstract
We derive an exact deterministic nonlinear estimator to compute the continuous state of a nonlinear time-varying system based on discrete, non uniformly time spaced, state measurements. The system consists of a robot arm mounted on a mobile non holonomic vehicle. The paper also discusses the effect on the estimation error of a bounded input additive noise.
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