Actuator Model Uncertainty with Bounded Responses

Multi-wheel mobile robotic vehicles require speed and torque measurements, which are constrained within practical error bounds. The paper systematically analyses the multiple sensor uncertainty and guarantees bounded input signals for the general case of a PMDC actuator within the context of wheel electrically actuated vehicles. For such vehicles often complex sensors and feedback systems are required to continuously monitor changes on the state variables, speed and torque and compensate accordingly. The paper proposes a bounded sensor error inclusion in the model analysis. The resulting mathematical formulation results in the derivation of the actuation signals with guaranteed intervals. The analyses also extend to the power converter operating at Q1-mode and clearly shows the duty-cycle variations and how this can affect the actuator system and consequently the robotic vehicle