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

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.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Applied Mathematics
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].
Tornambe', A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193865
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