Title :
Implicit observers and active perception
Author :
Ersson, Torvald ; Hu, Xiaoming
Author_Institution :
R. Inst. of Technol., Stockholm, Sweden
Abstract :
In this paper state observers for control systems with nonlinear outputs are studied. For such systems, the observability does not only depend on the initial conditions, but also on the exciting control used. In this paper some sufficient conditions are given for the convergence of an observer. It is also discussed, via a vision example, how to actively excite the system in order to improve the observability
Keywords :
convergence; mobile robots; nonlinear control systems; observers; robot vision; active perception; control systems; implicit observers; mobile robot vision; nonlinear outputs; observability; observer convergence; state observers; Angular velocity; Cameras; Control systems; Nonlinear control systems; Nonlinear systems; Observability; Robot kinematics; Robot vision systems; Sufficient conditions; Velocity measurement;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973416
