# Estimation of Battery State of Charge With $H_{\infty}$ Observer: Applied to a Robot for Inspecting Power Transmission Lines

@article{Zhang2012EstimationOB,
title={Estimation of Battery State of Charge With \$H_\{\infty\}\$  Observer: Applied to a Robot for Inspecting Power Transmission Lines},
author={Fei Zhang and Guangjun Liu and Lijin Fang and Hongguang Wang},
journal={IEEE Transactions on Industrial Electronics},
year={2012},
volume={59},
pages={1086-1095}
}
Battery state-of-charge (SOC) estimation is essential for a mobile robot, such as inspection of power transmission lines. It is often estimated using a Kalman filter (KF) under the assumption that the statistical properties of the system and measurement errors are known. Otherwise, the SOC estimation error may be large or even divergent. In this paper, without the requirement of the known statistical properties, a SOC estimation method is proposed using an H∞ observer, which can still guarantee… CONTINUE READING
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