Design of adaptive event-triggered interval observer for omni-directional automated guided vehicle

This paper investigates an adaptive event-triggered interval observer for omni-directional automated guided vehicles (OAGVs) subject to external disturbances. First, the kinematic model of the OAGV is established, and its state-space equation is derived using the Euler–Lagrange equation. Then, an adaptive event-triggered approach is employed for interval observer design. Meanwhile, a dynamic weighting factor coupling the upper and lower bounds of the estimation states is introduced, and the weighted estimation error is proven to be bounded in finite time. Furthermore, the Zeno phenomenon is avoided. Finally, numerical simulation results validate the effectiveness of the proposed adaptive event-triggered interval observer for OAGVs.