Abstract
It is analyzed the possibility to apply sliding mode observers for fault identification and consecutively the improvement of Technical Vision System (TVS) functioning in the tasks of mobile robotics. It is important that in swarm robotics tasks, where the Machine Vision is based on collaborative scanning of frame by several TVSs, the value of each single fault is multiplied. The original approach to system modeling permits us to build the sliding mode observer of reduced order, and apply its estimation for control improvement of scanning aperture DC motor in TVS. It is shown by simulations that estimation of scanner’s motor instability is robust and not sensitive to many practical perturbations.
Published Version
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