... and gyroscopes is a widely used way to estimate robot attitude. However, when us- ing a Kalman filter in this case, the measurements are vulnerable to dynamic accelerations which will result in substantial attitude estimation errors. The attitude acquisition method presented in this paper takes an attitude...

.... The control method is based on an adaptive backstepping algorithm whose stability is analyzed by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive...