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Communication Dans Un Congrès Année : 2015

Observer design for position and velocity bias estimation from a single direction output

Résumé

This paper addresses the problem of estimating the position of an object moving in R n from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to encompass the case where the measured velocity is corrupted by a constant bias. Global exponential convergence of the estimation error is proved under a condition of persistent excitation upon the direction measurements. Simulation results illustrate the performance of the observer.
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Dates et versions

hal-01377787 , version 1 (11-10-2016)

Identifiants

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Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson. Observer design for position and velocity bias estimation from a single direction output. CDC 2015 - 54th IEEE Conference on Decision and Control, Dec 2015, Osaka, Japan. pp.7648 - 7653, ⟨10.1109/CDC.2015.7403428⟩. ⟨hal-01377787⟩
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