TY  - JOUR
ID  - SisLab2554
UR  - http://vjs.ac.vn/index.php/jst/article/view/9515
IS  - 4
A1  - Tran, Thuan Hoang
A1  - Phung, Manh Duong
A1  - Nguyen, Thi Thanh Van
A1  - Tran, Quang Vinh
Y1  - 2012///
N2  - 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.
JF  - Vietnam Journal of Science and Technology
VL  - 50
SN  - 2525-2518
TI  - Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter
SP  - 441
AV  - public
EP  - 452
ER  -