A new SIMO filter for the estimation of higher order derivatives: The recurrent low pass algebraic differentiator

This research proposes a new differentiator for estimating higher order derivatives of an input signal. The main reason why higher order derivatives are necessary is that Active Inference makes use of generalized coordinates. This means that it keeps internally track of higher order temporal derivatives of states, inputs and measurements. The...

The Noisy Jackal: Measurement and analysis of the coloured noise on the longitudinal, lateral and rotational velocities and identifcation of its characteristics due to the unmodeled dynamics of a skid steer mobile robot during a steady-state turning manoeuvre

This research focuses on proving the presence of coloured noise on the longitudinal, lateral and rotational velocity in steady-state cornering of a skid steer mobile robot. Furthermore, it also focuses on the creation of a Gaussian filter which is able to recreate the characteristics of the measured coloured noise. This is done to determine the...