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Simultaneous state and input estimation with application to a two-link robotic system

Ha, Quang, Nguyen, Anh and Trinh, Hieu 2004, Simultaneous state and input estimation with application to a two-link robotic system, in ASCC 2004 : Proceedings of the 5th Asian Control Conference, ASCC, Melbourne, Vic., pp. 322-328.

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Title Simultaneous state and input estimation with application to a two-link robotic system
Author(s) Ha, Quang
Nguyen, Anh
Trinh, Hieu
Conference name Asian Control. Conference (5th : 2004 : Melbourne, Victoria)
Conference location Melbourne, Victoria
Conference dates 20-23 Jul. 2004
Title of proceedings ASCC 2004 : Proceedings of the 5th Asian Control Conference
Editor(s) Cantoni, Michael
Publication date 2004
Conference series Asian Control Conference
Start page 322
End page 328
Publisher ASCC
Place of publication Melbourne, Vic.
Summary This paper addresses the problem of estimating simultaneously the state and input of a nonlinear system with application to a two link robotic manipulator - the Pendubot. The system nonlinearity comprises a Lipschitz function with respect to the state, and a nonlinear term which is a function of both the state and input. It is shown that under some conditions, an observer can be designed to estimate simultaneously the system’s state and input. Simulation and experimental results, obtained around the inverted equilibrium position, are presented to demonstrate the validity of the approach.
Notes Hosts: University of Melbourne, IEEE and Engineers Australia.

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ISBN 0734030169
9780734030160
Language eng
Field of Research 091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2004, ASCC
Persistent URL http://hdl.handle.net/10536/DRO/DU:30009639

Document type: Conference Paper
Collections: School of Engineering and Technology
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