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Stabilization control of networked mobile robot using past observation-based preditive filter

Manh Duong Phung and Thi Thanh Van Nguyen and Thuan Hoang Tran and Quang Vinh Tran (2012) Stabilization control of networked mobile robot using past observation-based preditive filter. In: 6th Vietnam Conference on Mechatronics, 2012, Ho chi minh City, Vietnam.

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Abstract

This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach.

Item Type:Conference or Workshop Item (Paper)
Subjects:Electronics and Communications
Electronics and Communications > Electronics and Computer Engineering
Divisions:Faculty of Electronics and Telecommunications (FET)
ID Code:2556
Deposited By: Dr Manh Duong Phung
Deposited On:24 Jul 2017 02:51
Last Modified:24 Jul 2017 02:51

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