NDLI: Identify the motion-actuator states of two wheeled robot with DFDCMS

Content Provider	IEEE Xplore Digital Library
Author	Niu Wang Zu-shu Li Yong-long Li Ya Pan Heng Wang
Copyright Year	2008
Description	Author affiliation: Inst. of Intell. Autom., Chongqing Univ., Chongqing (Niu Wang; Zu-shu Li; Yong-long Li)
Abstract	Based on reduced model of double-fed direct current motor system (DFDCMS), the state space description and its key states of DFDCMS are advanced. The two wheeled robotpsilas kinematics model and motion-actuator model are analyzed, the state observer based on extended Kalman filter (EKF) of the two wheels mobile robot (TWMR) is used to filter the signal with interference and get the key states. There are tree kinds of state observers, including the direct state observer with nothing filter(NF), the state observer with Butterworth Filter(BF) and the state observer with EKF, are used to compare on two kinds of experiment platform, including the simulation system and the fact system of RoboCup soccer robot. As an application example, the motion states of TWMR have been analyzed base on EKF state observer during the course of TWMR going to one goal. The experimentation indicates that the state observer based on EKF can reflect the running states of test system more availably.
Starting Page	1663
Ending Page	1668
File Size	288011
Page Count	6
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4593168
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model DC motors Observers Wheels Robots Kalman filters Equations State observe Two wheeled robot DC motor system model Kalman filter
Content Type	Text
Resource Type	Article

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