Title :
Sensor modeling for achieving the tracking control of a pendulum
Author_Institution :
Australian Centre for Field Robotics, Sydney Univ., NSW, Australia
Abstract :
Sufficiently accurate modeling and understanding of the sensors and actuators is necessary to arrive at numerically efficient state estimation and control algorithms since the measurement and sensors provided are corrupted to some degree by the presence of noise, biases and device inaccuracies. This paper describes the sensor and actuator modeling issues that were encountered while trying to achieve the trajectory tracking control of a simple pendulum
Keywords :
actuators; manipulator dynamics; pendulums; sensors; state estimation; tracking; actuators; manipulators; sensors; simple pendulum; state estimation; tracking control; trajectory tracking; Actuators; Costs; DC motors; Mechanical sensors; Mechatronics; Robot control; Robot sensing systems; Sensor phenomena and characterization; State estimation; Velocity measurement;
Conference_Titel :
TENCON 99. Proceedings of the IEEE Region 10 Conference
Conference_Location :
Cheju Island
Print_ISBN :
0-7803-5739-6
DOI :
10.1109/TENCON.1999.818593
