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

Autor:	Hoang, T. T., Duong, P. M., Van, N. T. T., Vinh, T. Q.
Rok vydání:	2017
Předmět:	Computer Science - Robotics Computer Science - Systems and Control
Zdroj:	Journal of Science and Technology, pp.441-452, Vol. 50 no.4, 2012
Druh dokumentu:	Working Paper
Popis:	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. Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.07114
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1707.05458 Zobrazit plný text záznamu View this record from Arxiv