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Title: A practical method for implementing an attitude and heading reference system
Author: Nuno, E.
Sarras, I.
Basanez, L.
Kinnaert, M.
Issue Date: 2012
Abstract: The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and variable time-delays. The first version controls a teleoperator composed by a rigid local manipulator and a flexible joint remote manipulator and the second version deals with local and remote manipulators with joint flexibility. For both schemes, it is proved that the joint and motor velocities and the local and remote position error are bounded. Moreover, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Simulations are presented to show the performance of the proposed controllers. " 2012 IEEE.",,,,,,"10.1109/ICRA.2012.6225006",,,"","",,,,,,,,"Proceedings - IEEE International Conference on Robotics and Automation",,"4294
4299",,,,"Scopus",,,,,,,,,,,,"A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays",,"Conference Paper" "40871","123456789/35008",,"Munguía, R., Department of Computer Science, CUCEI, Universidad de Guadalajara, México, Mexico; Grau, A., Automatic Control Dept, Technical University of Catalonia, Barcelona, Spain",,"Munguia, R.
Grau, A.",,"2014",,"This paper describes a practical and reliable algorithm for implementing an Attitude and Heading Reference System (AHRS). This kind of system is essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms are required for performance to be acceptable. The proposed method is based on an Extended Kalman Filter (EKF) in a direct configuration. In this case, the filter is explicitly derived from both the kinematic and error models. The selection of this kind of EKF configuration can help in ensuring a tight integration of the method for its use in filter-based localization and mapping systems in autonomous vehicles. Experiments with real data show that the proposed method is able to maintain an accurate and drift-free attitude and heading estimation. An additional result is to show that there is no ostensible reason for preferring that the filter have an indirect configuration over a direct configuration for implementing an AHRS system. " 2014 The Author(s). Licensee InTech.
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