Abstract
This paper presents the results of a study of the influence of the technical condition of mobile robot drives on the identifiability criterion. A discrete robot model has been developed with optimal drive control. The results of computational experiments are presented, confirming the hypothesis of a nonlinear dependence of the determinants of the expanded state matrix and measurements in the robot model, significantly affecting its control. The identification criterion of the robot as a determinant of an expanded state matrix consisting of a combination of a state matrix and a measurement matrix is considered. An algorithm is proposed for calculating the identifiability criterion for a nonlinear control model in the discrete linearization version. It is proposed to use identification in terms of matching the mathematical model with the results of the operation of the robot. The information-measuring system at each sampling step measures the position vector, the speed of the robot and electric currents, the angular speeds of rotation of the drives at the current point of the robot path and calculates the state matrix. Therefore, at each step, the degree of proximity of the extended matrix to the loss of rank is calculated, at which the identifiability of the robot control model is still observed. The degree of proximity to the loss of identifiability is calculated by the minimum determinant of matrices. This minimum determinant is calculated as a threshold for making decisions about the technical condition of the drives of a mobile robot. The loss of identifiability of the extended matrix may be due to defects in drives or sensors and used for the diagnostic system of the robot.
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