キャスタ型オドメータに対する積分型拡張Luenbergerオブザーバ  [in Japanese] Integral Extended Luenberger Observer for Caster Odometers  [in Japanese]

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Author(s)

Abstract

This paper proposes a velocity observer for caster wheel odometers resisting steady-state error. The proposed method is established by attaching a feedback loop of error integration to extended Luenberger observer (ELO). The stability of the proposed observer is proved, moreover, the steady-state error converges to a bounded area where the bounds are defined by design parameters. This fact guarantees that the proposed method is robust against a certain class of model error as well as measurement noise. The advantage over the simple ELO or the conventional approximated differentiator is verified in numerical simulations and experiments.<br/>

Journal

  • Transactions of the Society of Instrument and Control Engineers

    Transactions of the Society of Instrument and Control Engineers 53(12), 633-643, 2017

    The Society of Instrument and Control Engineers

Codes

  • NII Article ID (NAID)
    130006250998
  • NII NACSIS-CAT ID (NCID)
    AN00072392
  • Text Lang
    JPN
  • ISSN
    0453-4654
  • NDL Article ID
    028738626
  • NDL Call No.
    Z14-482
  • Data Source
    NDL  J-STAGE 
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