A predictor-based attitude and position estimation for rigid bodies moving in planar space by using delayed landmark measurements

Senejohnny, Danial; Namvar, Mehrzad

doi:10.1017/s0263574716000187

Cited by 4 publications

(3 citation statements)

References 17 publications

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“…It is now possible to implement the residual term (15) in the least-squares to incorporate the intermittent magnetometer measurements bmk . Note that the residual error (15) relies on the available stateχ i rather than the unavailable statê χ k .…”

Section: Replacing Formentioning

confidence: 99%

Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion

Chng

Khosravian

Doan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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PSPB accepted the recommendations of an ad hoc committee, which reviewed the policy that had previously been revised in November 2010. The highlights of the current policy are as follows: The policy reaffirms the principle that authors are free to post their own version of their IEEE periodical or conference articles on their personal Web sites, those of their employers, or their funding agencies for the purpose of meeting public availability requirements prescribed by their funding agencies. Authors may post their version of an article as accepted for publication in an IEEE periodical or conference proceedings. Posting of the final PDF, as published by IEEE Xplore®, continues to be prohibited, except for open-access journal articles supported by payment of an article processing charge (APC), whose authors may freely post the final version.  The policy provides that IEEE periodicals will make available to each author a preprint version of that person's article that includes the Digital Object Identifier, IEEE's copyright notice, and a notice showing the article has been accepted for publication.  The policy states that authors are allowed to post versions of their articles on approved third-party servers that are operated by not-for-profit organizations. Because IEEE policy provides that authors are free to follow public access mandates of government funding agencies, IEEE authors may follow requirements to deposit their accepted manuscripts in those government repositories.

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Section: Replacing Formentioning

confidence: 99%

Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion

Chng

Khosravian

Doan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…19 According to the time-delay source mentioned, AUV delays are not homogeneous. To adequately cover AUV delay problems in this article, both discrete delay and distributed delay 20 are considered concurrently. In addition, the duo considers the delay in system states, the derivative of system states, and the integral of system states to be more congruent with practical conditions.…”

Section: Introductionmentioning

confidence: 99%

Robust stabilization for an autonomous underwater vehicle motion based on descriptor time-delay model

Khodayari

Pariz

Balochian

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article introduces a new technique for stabilizing autonomous underwater vehicles in the descriptor model. Autonomous underwater vehicle stabilization is limited by several constraints, including time-variable uncertainty, time delay, and disturbances. The interaction of descriptor system requirements and the issues mentioned above adds complexities. This study outlines the delay-dependent [Formula: see text] robust stability achieved through memory-less and memory state feedback. Furthermore, a less conservative sufficient condition is obtained for admissibility using a new delay-dependent linear matrices inequality. Autonomous underwater vehicle is regular, impulse-free, and stable under all permissible conditions and satisfies prescribed [Formula: see text] performance conditions via a Lyapunov functional approach. The method applies to neutral and retarded dynamics with discrete and distributed time delays.

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“…Many authors adopt this approach in their works. In [13], a predictive observer is proposed to solve the problem of landmark measurements obtained with time-delay and it is applied in the case of wheeled mobile robots (WMR). In [14], a nonlinear observer with a chain-like structure is proposed that explicitly reflects and takes into account the magnitude of the output delay.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control for Wheeled Mobile Robot Based on Delayed Sensor Measurements

Guechi

Belharet

Blažič

2019

Sensors

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This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a parallel-distributed compensation control is used to control the robot. The L2-stability of the proposed observer is also proven in the paper. Both, the control and the observer gains are obtained by solving the proposed system of linear matrix inequalities. To illustrate the efficiency of the proposed approach, an experimental comparison with another predictor observer was done.

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A predictor-based attitude and position estimation for rigid bodies moving in planar space by using delayed landmark measurements

Cited by 4 publications

References 17 publications

Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion

Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion

Robust stabilization for an autonomous underwater vehicle motion based on descriptor time-delay model

Tracking Control for Wheeled Mobile Robot Based on Delayed Sensor Measurements

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