State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements

Research output: Contribution to conferenceOtherpeer-review

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.
Original languageEnglish
Pages11526-11531
Number of pages6
Publication statusPublished - 2011

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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