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

Francesco Alonge; Filippo D'Ippolito

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

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Risultato della ricerca: Other › peer 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.

Lingua originale	English
Pagine	11526-11531
Numero di pagine	6
Stato di pubblicazione	Published - 2011

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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title = "State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements",

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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AU - Alonge, Francesco

AU - D'Ippolito, Filippo

PY - 2011

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N2 - 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.

AB - 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.

UR - http://hdl.handle.net/10447/66503

M3 - Other

SP - 11526

EP - 11531

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