Observer For An Omnidirectional Mobile Robot

被引：0
|
作者：
Hadji, N. [1 ]
Rahmani, A. [1 ]
机构：
[1] Univ Lille Nord France, F-59000 Lille, France
来源：
2010 INTERNATIONAL CONFERENCE ON BOND GRAPH MODELING AND SIMULATION (ICBGM'10) | 2010年
关键词：
Observability; Full order observer; Modelling; Bond graph; Mobile robotics; BOND-GRAPH; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
the objective of this paper is to build a full-order Luenberger observer of an omnidirectional mobile robot (Robotino) modelled by bond graph. This work is done in the framework of the control and supervision of a mobile robot group formation. In the first step, the bond graph model of the robot is proposed and validated. In the second step, a full-order Luenberger observer design method for linear time invariant systems modeled by bond graph is presented, applied to a mobile robot, and extended to a group of robots. The bond graph approach is used from modeling up to building observers. This method requires structural analysis (Observability, redundancy, bond graph rank) and formal calculus (gain matrix calculus).
引用
收藏
页码：80 / 86
页数：7
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