Search results for "Nonlinear time varying system"

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

2011

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.