Model-Based and Non-Model-Based Velocity Estimators and Its Application to Mobile Robots

Wada, Shoji; Suemitsu, Haruo; Matsuo, Takami

doi:10.1109/icicic.2007.390

Second International Conference on Innovative Computing, Informatio and Control (ICICIC 2007) 2007

DOI: 10.1109/icicic.2007.390

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Model-Based and Non-Model-Based Velocity Estimators and Its Application to Mobile Robots

Shoji Wada

Haruo Suemitsu

Takami Matsuo

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2008

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Nonmodel-based estimation of friction forces with acceleration estimator

Mitsunaga

Matsuo

2008

2008 SICE Annual Conference

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In this paper, we design an adaptive estimator for the nonlinear dynamic friction force when the output is the position. To begin with, a velocity estimator is proposed based on the adaptive identification method. Then, an acceleration estimator is proposed with the non-passifiable adaptive schemes. Finally, the proposed acceleration estimator is applied to the estimation of friction forces. Numerical examples are given to illustrate the performance of the estimator in the case of the viscous friction model, the Coulomb friction model, and the LuGre model.

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Nonmodel-based estimation of friction forces with acceleration estimator

Mitsunaga

Matsuo

2008

2008 SICE Annual Conference

Self Cite

View full text Add to dashboard Cite

show abstract

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Model-Based and Non-Model-Based Velocity Estimators and Its Application to Mobile Robots

Cited by 1 publication

References 4 publications

Nonmodel-based estimation of friction forces with acceleration estimator

Nonmodel-based estimation of friction forces with acceleration estimator

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