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Identification of Four Wheel Mobile Robot based on Parametric Modelling

机译：基于参数建模的四轮移动机器人识别

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摘要

Technology Four Wheel Mobile Robotic is a choice with a variety of the functions in the industry and the application of the other, reliability and intelligence system of wheeled mobile robot become an option on a 4.0 generation industry. Stabilization of four-wheel mobile robot is an important case for the system control of the mobile robot. This paper presents system identification process of Four Wheel Mobile Robot (FWMR). In the first phase, it is investigating a part of the system as multi-input single output (MISO) system. The current and duty cycle of motors as input, and speed of rotation wheel as outputs. Model of Four Wheel Mobile Robot is constructed by parametric models in system identification. There are two parametric models used in this study, those are autoregressive exogenous (ARX) and autoregressive moving average exogenous (ARMAX). The models were designed using m-file of the parametric model. The best result models Four Wheel Mobile Robot are ARX model with first-order structure (FIT= 98,11% and ARMAX model with second order structure (FIT= 95,30%. The ARX model shows the best model for Four Wheel Mobile Robot (FWMR) system.
机译：技术四轮移动机器人是行业中具有多种功能的选择，而另一种应用是，轮式移动机器人的可靠性和智能系统已成为4.0代行业的一种选择。四轮移动机器人的稳定化是移动机器人系统控制的重要案例。本文介绍了四轮移动机器人（FWMR）的系统识别过程。在第一阶段，它正在研究系统的一部分，即多输入单输出（MISO）系统。电动机的电流和占空比作为输入，旋转轮的速度作为输出。在系统识别中，通过参数化模型构建了四轮移动机器人模型。本研究中使用了两种参数模型，即自回归外生（ARX）和自回归移动平均外生（ARMAX）。使用参数模型的m文件设计模型。最佳结果模型四轮移动机器人是具有一阶结构（FIT = 98.11％的ARX模型）和具有二阶结构（FIT = 95,30％的ARMAX模型）。ARX模型显示了四轮移动机器人的最佳模型（FWMR）系统。

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