Estimation of failures in actuators of a mobile robot with mecanum wheels
Abstract
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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