Research Article
Stabilization Controller Design for Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter
@INPROCEEDINGS{10.1007/978-3-031-08878-0_14, author={Tran Thuan Hoang and Vo Chi Thanh and Nguyen Ngo Anh Quan and Tran Le Thang Dong}, title={Stabilization Controller Design for Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter}, proceedings={Industrial Networks and Intelligent Systems. 8th EAI International Conference, INISCOM 2022, Virtual Event, April 21--22, 2022, Proceedings}, proceedings_a={INISCOM}, year={2022}, month={6}, keywords={Kalman filter Lyapunov function Mobile robot control Stabilization of mobile robot}, doi={10.1007/978-3-031-08878-0_14} }- Tran Thuan Hoang
Vo Chi Thanh
Nguyen Ngo Anh Quan
Tran Le Thang Dong
Year: 2022
Stabilization Controller Design for Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter
INISCOM
Springer
DOI: 10.1007/978-3-031-08878-0_14
Abstract
This paper presents the design of a stability controller according to Lyapunov criteria in the presence of noises for a differential two-wheeled mobile robot built in the laboratory. Two Lyapunov functions are constructed that allow a hybrid feedback to control law to execute the robot movements to the desired destination from an arbitrary initial position. The asymptotical stability and robustness of the closed loop system are assured. Then, the position estimates of the Kalman filter are better than usual and designed to be inserted into the feedback control loop to improve the motion control quality. The asymptotic stability of the closed-loop control system has been proven theoretically. A variety of simulations and experiments have been carried out to prove the effectiveness and applicability of the proposed method.
