eprintid: 2554
rev_number: 11
eprint_status: archive
userid: 285
dir: disk0/00/00/25/54
datestamp: 2017-07-24 02:51:12
lastmod: 2017-07-24 02:51:12
status_changed: 2017-07-24 02:51:12
type: article
metadata_visibility: show
creators_name: Tran, Thuan Hoang
creators_name: Phung, Manh Duong
creators_name: Nguyen, Thi Thanh Van
creators_name: Tran, Quang Vinh
creators_id: duongpm@vnu.edu.vn
creators_id: vanntt@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter
ispublished: pub
subjects: ECE
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
abstract: 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
date_type: published
official_url: http://vjs.ac.vn/index.php/jst/article/view/9515
id_number: 10.15625/0866-708X/50/4/9515
full_text_status: public
pres_type: paper
publication: Vietnam Journal of Science and Technology
volume: 50
number: 4
pagerange: 441-452
refereed: TRUE
issn: 2525-2518
related_url_url: http://uet.vnu.edu.vn/~duongpm/
related_url_type: author
citation:   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     
document_url: 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