Identification of Different Types of Non-Holonomic Mobile Robots

Abstract

This paper presents the real-time identification of different types of non-holonomic mobile robot systems. Since the robot type is a priori unknown, the robot systems are formulated as a switched singular nonlinear system, and the problem becomes the real-time identification of the switching signal, and then the existence of the input-output functions and the distinguishability of the system are studied. We show in the simulations that the proposed technique is implemented easily and effectively, and it is robust to the noises as well.