It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A high-gain observer is used in the state estimation and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical methods of Newton and of the gradient can be obtained as particular high-gain observers. © 1990.
Tornambe', A. (1990). Use of high-gain observers in the inverse kinematic problem. APPLIED MATHEMATICS LETTERS, 3(1), 97-100 [10.1016/0893-9659(90)90076-N].
Use of high-gain observers in the inverse kinematic problem
Tornambe', Antonio
1990-01-01
Abstract
It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A high-gain observer is used in the state estimation and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical methods of Newton and of the gradient can be obtained as particular high-gain observers. © 1990.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
