Simultaneous identification and control of a hybrid dynamic model for a mobile robot

Abstract

A mobile robot moving in an office environment is a hybrid dynamic system. As the robot becomes constrained by obstacles in the environment, the dynamics of the system change. Thus, the robot has a number of distinct states with differing dynamics, corresponding to the different obstacles in the environment. Discrete switches between the states occur when the motion of the robot becomes constrained by a new obstacle or the robot moves away from a previously constraining obstacle. This paper presents a new method for the identification of a model of this hybrid dynamic system. Simulated results are given demonstrating the applicability of this method to identification of hybrid dynamic systems. A simple controller is implemented indicating the possibilities for simultaneous identification and control and demonstrating the ease of controller design in a hybrid dynamic framework.