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Real-time Identification of different types of non-holonomic mobile robots

Yingchong Ma 1 Gang Zheng 2, 1 Wilfrid Perruquetti 1, 2 
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper presents the real-time identification of different types of non-holonomic mobile robot systems. Since the robot type is a priori unknown, the robot systems are formulated as a switched singular nonlinear system, and the problem becomes the real-time identification of the switching signal, and then the existence of the input-output functions and the distinguishability of the system are studied. We show in the simulations that the proposed technique is implemented easily and effectively, and it is robust to the noises as well.
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Conference papers
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Submitted on : Wednesday, November 27, 2013 - 3:50:42 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM


  • HAL Id : hal-00910210, version 1


Yingchong Ma, Gang Zheng, Wilfrid Perruquetti. Real-time Identification of different types of non-holonomic mobile robots. 9th IFAC Symposium on Nonlinear Control Systems, Sep 2013, Toulouse, France. ⟨hal-00910210⟩



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