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.
|Number of pages||6|
|Publication status||Published - 2011|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering