State estimator application in DC motors of a mobile robot

ANDERSON BENTO; LUCAS OLIVEIRA; RUBIO SCOLA, IGNACIO; ARIANY CAROLINA DE OLIVEIRA

João Pessoa

Congreso; XXII Congresso Brasileiro de Automática; 2018

THE BRAZILIAN CONFERENCE ON AUTOMATION

Mobile robotics is a multidisciplinary field involving bothcomputer science and engineering. In this application theexact knowledge of the position and speed of a vehicle is a fundamental problem that has been taking the attention of researchersand engineers. In this paper, we propose a method to identifythe model and to estimate the speed of hobby DC motor based on astate estimator. The proposed method is evaluated with simulations and experimental results. The results show that performancestate estimator is as good as an encoder system.