DocumentCode
2733587
Title
Model-Based and Non-Model-Based Velocity Estimators and Its Application to Mobile Robots
Author
Wada, Shuhei ; Suemitsu, Haruo ; Matsuo, Takami
Author_Institution
Oita Univ., Oita
fYear
2007
fDate
5-7 Sept. 2007
Firstpage
24
Lastpage
24
Abstract
The design of an ideal differentiator is a difficult and a challenging task. In this paper, we propose two differential filters to estimate the time-derivative of an output signal. A non-model-based differentiator is proposed based on the adaptive control theory and compared with the exact differentiator proposed by Levant. Furthermore, a model-based differentiator is proposed. The proposed differentiators are applied to the estimation of the velocity of a unicycle mobile robot.
Keywords
differential equations; mobile robots; signal processing; variable structure systems; velocity; differential filters; differentiator; mobile robots; sliding mode technique; time-derivative estimation; velocity estimators; Adaptive control; Equations; Filters; Image sequences; Mechatronics; Mobile robots; Object detection; Time measurement; Upper bound; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Innovative Computing, Information and Control, 2007. ICICIC '07. Second International Conference on
Conference_Location
Kumamoto
Print_ISBN
0-7695-2882-1
Type
conf
DOI
10.1109/ICICIC.2007.390
Filename
4427671
Link To Document