State Estimator Application in DC Motors of a Mobile Robot

Anderson Vítor Bento¹; Lucas Silva de Oliveira¹; Ignacio Rubio Scola¹; Ariany Carolina de Oliveira¹

¹ Centro Federal de Educação Tecnológica de Minas Gerais

Baixar PDF doi:10.20906/CPS/CBA2018-0374

Resumo

Mobile robotics is a multidisciplinary field involving both computer science and engineering. In this application, the exact knowledge of the position and speed of a vehicle is a fundamental problem and have been taking the attention of researchers and engineers. In this paper, we proposed a method to identify the model and to estimate the speed of hobby dc motor based on a state estimator. The proposed method is evaluated with simulations and experimental results. The results show that performance state estimator is as good as an encoder system.

Palavras-chave: Mobile Robotic; Mechatronics Systems; State Estimator