Open AccessAdaptive position observer for moving object
Author(s) -
Trong-Bien Hoang,
Anton A. Pyrkin
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1864/1/012027
Subject(s) - observer (physics) , heading (navigation) , position (finance) , computer vision , control theory (sociology) , object (grammar) , artificial intelligence , computer science , mathematics , physics , geodesy , geography , control (management) , finance , quantum mechanics , economics
The paper presents a new adaptive observer of the local coordinates of a moving object based on measurements of linear velocity, yaw angle (heading), and distance to a single beacon with known position. The conditions under which the algorithm is asymptotically stable are shown, as well as the states for which a robust estimate is reasonable to be used.