relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2554/
title: Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter
creator: Tran, Thuan Hoang
creator: Phung, Manh Duong
creator: Nguyen, Thi Thanh Van
creator: Tran, Quang Vinh
subject: Electronics and Communications
subject: Electronics and Computer Engineering
description: This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.
date: 2012
type: Article
type: PeerReviewed
format: application/pdf
language: en
identifier: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2554/1/STABILIZATION%20CONTROL%20OF%20THE%20DIFFERENTIAL%20MOBILE%20ROBOT%20USING%20LYAPUNOV%20FUNCTION%20AND%20EXTENDED%20KALMAN%20FILTER_VER4.pdf
identifier:   Tran, Thuan Hoang and Phung, Manh Duong and Nguyen, Thi Thanh Van and Tran, Quang Vinh  (2012) Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter.  Vietnam Journal of Science and Technology, 50  (4).   pp. 441-452.  ISSN 2525-2518     
relation: http://vjs.ac.vn/index.php/jst/article/view/9515
relation: 10.15625/0866-708X/50/4/9515