Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

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

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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.

Item Type:	Article
Subjects:	Electronics and Communications Electronics and Communications > Electronics and Computer Engineering
Divisions:	Faculty of Electronics and Telecommunications (FET)
Depositing User:	Dr Manh Duong Phung
Date Deposited:	24 Jul 2017 02:51
Last Modified:	24 Jul 2017 02:51
URI:	http://eprints.uet.vnu.edu.vn/eprints/id/eprint/2554

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