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EnglishAn asymptotic discrete-time, time-varying state observer for the dynamic model of a unicycle mobile vehicle is proposed. The observer is composed of two blocks, addressing separately the two subsystems constituting the vehicle. Such subsystems are: i) orientation subsystem; ii) position subsystem. This is allowed by a structural characteristic of the vehicle model. By imposing the dead-beat requirement to the orientation observer, whose evolution is independent of the other, convergence is ensured. Therefore the position observer can use exact orientation measurements after a short transient. The asymptotic stability of the two observers is proved.
| Titolo: | A MIMO discrete time observer for unicycle mobile vehicles |
| Autori: | LEO, TOMMASO [Membro del Collaboration Group] |
| Data di pubblicazione: | 1998 |
| Abstract: | An asymptotic discrete-time, time-varying state observer for the dynamic model of a unicycle mobile vehicle is proposed. The observer is composed of two blocks, addressing separately the two subsystems constituting the vehicle. Such subsystems are: i) orientation subsystem; ii) position subsystem. This is allowed by a structural characteristic of the vehicle model. By imposing the dead-beat requirement to the orientation observer, whose evolution is independent of the other, convergence is ensured. Therefore the position observer can use exact orientation measurements after a short transient. The asymptotic stability of the two observers is proved. |
| Handle: | http://hdl.handle.net/11566/47127 |
| ISBN: | 9780080430447 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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