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A tactile sensor based varying contact point manipulation strategy that utilizes the mathematical models based on the assumption of fixed contact points is proposed to manipulate unknown objects with rolling contact for dexterous robot hand. In this strategy, fingertip tactile sensor is utilized to detect contact position and to update the size parameters about the finger end-link when rolling occurs...
Battery state-of-charge (SOC) estimation is essential for a mobile robot, such as inspection of power transmission lines. It is often estimated using a Kalman filter (KF) under the assumption that the statistical properties of the system and measurement errors are known. Otherwise, the SOC estimation error may be large or even divergent. In this paper, without the requirement of the known statistical...
This paper proposes a robust guaranteed cost control method for a linear system with norm bounded time varying parametric uncertainties and external disturbance. Using the Lyapunov stability theory and linear matrix inequality method, a robust guaranteed cost control law is derived to guarantee that the closed loop system is not only stable, but also has adequately quadratic and H∞ performance levels...
Online evaluation of battery state of function (SOF) is crucial for battery management systems of autonomous mobile robots. Battery State of Charge (SOC) represents its remaining energy available, whereas internal resistance and capacity reflect its state of health (SOH). In this paper, an improved equivalent circuit model is proposed to estimate SOC, internal resistance and capacity using an unscented...
In this paper, a battery state of charge (SOC) estimation method based on the extended Kalman filter is proposed. In some known battery SOC estimation methods, it is assumed that the relationship between battery open circuit voltage and SOC is linear and static. However, this relationship is only piece wisely linear in practice and varies with the ambient temperature, as assumed in this work. The...
In this paper, a simplified battery model and a closed-loop estimation method of the state of charge (SOC) are proposed. The simplified battery model consists only of two resistors and two capacitors, based on which a sliding mode observer is designed to compensate modeling errors when the SOC is estimated. The proposed method can overcome the drawbacks of the conventional SOC estimation methods,...
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