Finite-Time Interval Observer Design for Four-Mecanum-Wheeled Mobile Vehicle

This paper presents a finite-time interval estimation method for the four-mecanum-wheeled mobile vehicle. Firstly, a <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$T-N-L$</tex> structure observrer with finite-time <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathcal{L}_{2}$</tex> gain is designed to estimate the displacement and velocity of four-mecanumwheeled mobile vehicle. Then, the reachability analysis is integrated into the finite-time structure observer to accurately obtain the upper and lower bounds of these unmeasurable states. Finally, the simulation results have proved that the interval estimation method designed in this paper is feasible and effective.