Nonlinear State Estimation for Rigid Body Motion with Low-Pass Sensors
نویسندگان
چکیده
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. c © 2000 Elsevier Science B.V. All rights reserved.
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تاریخ انتشار 1999