Robust unknown input estimation for a mecanum-wheels omnidirectional mobile robot modeled as a convex qLPV system

Key Points

• Unknown input estimation achieved stability in a mecanum-wheeled robot model, enhancing maneuverability.
• Results indicate that the qLPV system framework significantly improves response to unmodeled disturbances.
• Analytical methods were applied to the control systems of the robot, ensuring robust performance under various conditions.
• These findings suggest that the improved estimation techniques may advance robotic applications in dynamic environments.