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.
A MIMO discrete time observer for unicycle mobile vehicles / Bonci, Andrea; Corradini, MARIA LETIZIA; Leo, Tommaso. - STAMPA. - 31:(1998), pp. 67-72. (Intervento presentato al convegno IFAC International Conference on Motion Control tenutosi a Grenoble (FR) nel 21-23 September 1998) [10.1016/S1474-6670(17)40007-3].
A MIMO discrete time observer for unicycle mobile vehicles
BONCI, Andrea
Membro del Collaboration Group
;CORRADINI, MARIA LETIZIAMembro del Collaboration Group
;LEO, TOMMASOMembro del Collaboration Group
1998-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
