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

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.