State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements
- Authors: Alonge, F; D'Ippolito, F
- Publication year: 2011
- Type: Proceedings
- OA Link: http://hdl.handle.net/10447/66503
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.