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Paper detail

Stabilization control of networked mobile robot using past observation-based preditive filter

This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach.

preprint2020arXivOpen access
Manh Duong PhungThi Thanh Van NguyenThuan Hoang TranQuang Vinh Tran
Systems and Controleess.SYRobotics
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Manh Duong PhungThi Thanh Van NguyenThuan Hoang TranQuang Vinh Tran

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