Nonlinear Quadratic Estimator with selective error state weighting

2017 ◽  
Author(s):  
Eckhard Gauterin ◽  
Florian Poschke ◽  
Nico Goldschmidt ◽  
Horst Schulte
Keyword(s):  
Quadratic Estimator ◽  
Error State

scholarly journals Design of a Nonhomogeneous Nonlinear Synchronizer and Its Implementation in Reconfigurable Hardware

2020 ◽  
Vol 25 (3) ◽  
pp. 51
Author(s):  
Jesus R. Pulido-Luna ◽  
Jorge A. López-Rentería ◽  
Nohe R. Cazarez-Castro
Keyword(s):  
Asymptotic Stability ◽  
Test Performance ◽  
State Feedback ◽  
Chaotic Systems ◽  
Reconfigurable Hardware ◽  
Lyapunov Theory ◽  
Control Law ◽  
Heterogeneous Dynamics ◽  
Two Systems ◽  
Error State

In this work, a generalization of a synchronization methodology applied to a pair of chaotic systems with heterogeneous dynamics is given. The proposed control law is designed using the error state feedback and Lyapunov theory to guarantee asymptotic stability. The control law is used to synchronize two systems with different number of scrolls in their dynamics and defined in a different number of pieces. The proposed control law is implemented in an FPGA in order to test performance of the synchronization schemes.

Robust Error-State Kalman Filter for Estimating IMU Orientation

2020 ◽  
pp. 1-1 ◽  
Author(s):  
Rachel V. Vitali ◽  
Ryan S. McGinnis ◽  
Noel C. Perkins
Keyword(s):  
Kalman Filter ◽  
Error State

scholarly journals Comparative Analysis between Error-State and Full-State Error Estimation for KF-Based IMU/GNSS Integration against IMU Faults

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4912 ◽  
Author(s):  
Wei Liu ◽  
Dan Song ◽  
Zhipeng Wang ◽  
Kun Fang
Keyword(s):  
Satellite System ◽  
Position Estimation ◽  
Measurement Unit ◽  
Multisensor Systems ◽  
System Integrity ◽  
Full State ◽  
Tightly Coupled ◽  
Integrity Assurance ◽  
Error State ◽  
State Error

Considering the inertial measurement unit (IMU) faults risk of an unmanned aerial vehicle (UAV), this paper provides an analysis of the error overboundings of position estimation in a tightly coupled IMU/global navigation satellite system (GNSS) integrated architecture under the IMU fault conditions using an error-state EKF-based approach and provides a comparison to a recently published EKF-based full state method. Simulation results show that both the error overboundings of the error-state and full-state EKFs can fit the state error against the IMU faults, but the error-state EKF is more suitable for UAV navigation system integrity assurance due to its higher calculation effciency. This study will be extended to the integrity monitoring of multisensor systems.

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1073-1089 ◽  
Author(s):  
Luis Montoya-Villegas ◽  
Javier Moreno-Valenzuela ◽  
Ricardo Pérez-Alcocer
Keyword(s):  
Feedback Linearization ◽  
Vision System ◽  
Experimental Tests ◽  
Experimental Result ◽  
The Novel ◽  
Tracking Accuracy ◽  
Motion Controller ◽  
Wheeled Mobile Robots ◽  
Feedback Linearization Approach ◽  
Error State

SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

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