Finite-Time Position and Velocity Estimation Adapted to Noisy Biased Acceleration Measurements from Periodic Motion

Antonio Estrada (1) , Denis Efimov (2) , Wilfrid Perruquetti (2)

1 CONACYT - Consejo Nacional de Ciencia y Tecnología [Mexico]
2 NON-A - Non-Asymptotic estimation for online systems

The present work focuses on the problem of velocity and position estimation. A solution is presented for a class of oscillating systems in which position, velocity and acceleration are zero mean signals. The proposed scheme considers that the dynamic model of the system is unknown. Only noisy acceleration measurements, that may be contaminated by zero mean noise and constant bias, are considered to be available. The proposal uses the periodic nature of the signals obtaining finite-time estimations while tackling integration drift accumulation.

Mots clés: Finite-time; estimation adaptation; periodic signals

Domaines: Automatique / Robotique

Antonio Estrada, Denis Efimov, Wilfrid Perruquetti. Finite-Time Position and Velocity Estimation Adapted to Noisy Biased Acceleration Measurements from Periodic Motion. International Journal of Control, 2016, 89 (9), ⟨10.1080/00207179.2016.1175670⟩. ⟨hal-01295716⟩