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Combining Interval Analysis with Flatness Theory for State Estimation of Sailboat Robots

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Abstract

This paper proposes a new set-membership state estimator for estimating the state vector of a nonlinear dynamic robot. The method combines a symbolic technique based on flatness concepts with rigorous numerical methods based on interval analysis. Two testcases related to the state estimation of a sailboat robot are proposed to illustrate the principle and the efficiency of the approach.

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  1. ENSTA, LabSTICC, 2 rue François Verny, 29806, Brest, France

    Luc Jaulin

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  1. Luc Jaulin
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Correspondence to Luc Jaulin.

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Jaulin, L. Combining Interval Analysis with Flatness Theory for State Estimation of Sailboat Robots. Math.Comput.Sci. 6, 347–359 (2012). https://doi.org/10.1007/s11786-012-0130-9

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  • DOI: https://doi.org/10.1007/s11786-012-0130-9

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