Estimation of failures in actuators of a mobile robot with mecanum wheels
In this article, a convex proportional-integral observer (PIC) is presented for the estimation of actuator faults in a mobile robot with mecanum wheels. Using the nonlinear sector technique, a convex model with a tensor product structure is developed, providing greater flexibility in solving the obs...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2024 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/12363 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/12363 |
| Access Level: | acceso abierto |
| Palabra clave: | fault estimation convex model estimacion de fallas fallas en actuadores robot móvil con ruedas mecanum modelo convexo |
| Sumario: | In this article, a convex proportional-integral observer (PIC) is presented for the estimation of actuator faults in a mobile robot with mecanum wheels. Using the nonlinear sector technique, a convex model with a tensor product structure is developed, providing greater flexibility in solving the observer gains. For stability conditions of the estimation error, the direct Lyapunov method is employed, specifying sufficient conditions through a set of linear matrix inequalities (LMIs) that ensure the asymptotic convergence of the estimated state and faults to the vector of the system's state and faults. Finally, the results are evaluated through simulation based on the nonlinear model of a mecanum-wheeled mobile robot. |
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