Design of High Precision Interval Observer for Robot System

Abstract

In order to solve the problem of parameter uncertainty and unknown external interference of wheeled mobile robots (WMR) in a complex environment, the design of a high-precision interval observer for the robot system is proposed. In this paper, the kinematics and dynamics model of a wheeled mobile robot is derived first, and then the control strategy of high-precision interval observer is introduced to estimate and compensate for the unknown state and uncertainty of the system in real-time, which realizes the robustness of the system to disturbance and high adaptability to the environment. The stability of the system is proved by Lyapunov’s theory. The experimental results show that other methods based on coordinate transformation, though the design conditions are relaxed to a certain extent, bring some conservatism. The method proposed in this paper can obtain more accurate interval estimation, so the performance of the method proposed in this paper is better. In conclusion, the control method proposed in this paper can make the mobile robot system have good tracking control performance and strong robustness.