6533b860fe1ef96bd12c2fbf

RESEARCH PRODUCT

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

Francesco AlongeFilippo D'ippolito

subject

Mobile manipulatorHolonomicContinuous stateBounded inputState (functional analysis)Noise (electronics)Nonholonomic vehicleComputer Science::RoboticsNonlinear systemNonlinear estimatorSettore ING-INF/04 - AutomaticaControl theoryPosition (vector)Estimation errorBounded functionState measurementsNonlinear time varying systemRobotic armRobot armMobile manipulatorMathematics

description

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.

yearjournalcountryeditionlanguage
2011-01-01
10.3182/20110828-6-it-1002.00530http://hdl.handle.net/10447/66503