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

DOI10.1016/S0167-6911(00)00022-0zbMath0985.93054OpenAlexW2060479667WikidataQ128127267 ScholiaQ128127267MaRDI QIDQ1575416

Henrik Rehbinder, Xiao-ming Hu

Publication date: 21 August 2000

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(00)00022-0

zbMATH Keywords

linear time-varying systemsrigid body motionnonlinear state estimationhigh gain observerexponential observerswalking robotinclinometersrate gyros

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Estimation and detection in stochastic control theory (93E10) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07) Motion of a rigid body in contact with a solid surface (70E18)

Related Items (4)

Numerical algorithm for rigid body position estimation using the quaternion approach ⋮ Drift-free attitude estimation for accelerated rigid bodies ⋮ Output feedback observation and control for visual servoing of VTOL UAVs ⋮ Rigid body attitude control with inclinometer and low-cost gyro measurements

Cites Work

• Unnamed Item
• Nonlinear control systems: An introduction
• Stochastic models, estimation, and control. Vol. 1
• The Riccati equation and its bounds

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