✦ LIBER ✦

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

✍ Scribed by Henrik Rehbinder; Xiaoming Hu

Book ID: 104300253
Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 140 KB
Volume: 40
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(00)00022-0

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✦ Synopsis

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.

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