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Industrial Networks and Intelligent Systems. 8th EAI International Conference, INISCOM 2022, Virtual Event, April 21–22, 2022, Proceedings

Research Article

Stabilization Controller Design for Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

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  • @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
Tran Thuan Hoang1, Vo Chi Thanh1, Nguyen Ngo Anh Quan1, Tran Le Thang Dong1,*
  • 1: Center of Electrical Engineering, Duy Tan University
*Contact email: tranthangdong@duytan.edu.vn

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.

Keywords
Kalman filter Lyapunov function Mobile robot control Stabilization of mobile robot
Published
2022-06-14
Appears in
SpringerLink
http://dx.doi.org/10.1007/978-3-031-08878-0_14
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