778 Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh

VCM2012
iu khin n nh robot di ng phn tn qua mng my tnh
s dng b lc d on vi quan st qu kh
Stabilization control of networked mobile robot
using past observation-based preditive filter
Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh
Trng H Cng ngh, HQGHN
e-Mail: duongpm@vnu.edu.vn
Tm tt
Bi bo trnh by vn iu khin n nh cho h robot di ng phn tn qua mng my tnh chu tc
ng ca s tr tr. Mt b c lng trng thi mi c tn l b lc d on vi quan st qu kh c xy
dng cho php d on trng thi ca h robot t php o b tr tr. D on ny kt hp vi lut iu khin
cho h truyn thng m bo tnh n nh tim cn cho h robot phn tn. Cc m phng vi tham s ly t h
thc c tin hnh v kt qu khng nh tnh ng n cng nh kh nng p dng ca gii thut vo cc
h thc.
Abstract:
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.

Ch vit tt
PO-PF Past observation-based Predective
filter

1. M u
iu khin robot phn tn qua mng my tnh
ang nhn c nhiu s quan tm nghin cu gn
y nh kh nng m ra nhng ng dng mi cho
cuc sng hin i nh h thng m t xa, phng
th nghim o hay cu h trong mi trng phng
x. Nu nh nhng nghin cu ban u c gng tr
li cu hi lm th no iu khin c mt
robot qua mng Internet [1, 2] th cc nghin cu
gn y li tp trung gii quyt cc thch thc c
th nh khc phc tr tr, ti u bng thng, la
chn giao thc, nh v trong iu kin nhiu [3-
6]. Trong s , vn iu khin n nh cn
nhn c nhng kho st v nghin cu chi tit.
iu khin n nh l vn c bn trong l
thuyt iu khin ni chung v trong robot di ng
ni ring. Vic di chuyn mt cch n nh t mt
im khi pht n im ch l c s cho s vn
hnh hiu qu ca ton h thng v l nn tng
xy dng cc ng dng thc tin. T ngha ,
nhiu nghin cu c thc hin v bi ton
iu khin n nh robot di ng tp trung truyn
thng thc t c gii quyt c v mt thc
nghim ln l thuyt [7-9]. Tuy nhin, h thng
robot di ng khi phn tn qua mng my tnh c
nhng im khc bit. l s tc ng ca cc
tham s mng nh tr tr, mt mt d liu,
s sai lch th t d liu truyn hay s gii hn
bng thng cho php ln tn hiu iu khin v
phn hi. Xt t gc iu khin hc, nhng tc
ng ny gy ra s khng chnh xc trong c
lng trng thi v c th lm gim ng k hiu
nng ca h thng. Do , mt s xut cho vn
ny c a ra vi nhng u v nhc
im khc nhau.
Trong [10], A. Ray xut vic s dng mt b
m thi gian c gi tr di hn tr tr trong
trng hp xu nht a h thng tr v bt
bin vi thi gian v t s dng l thuyt iu
khin c in. Trong [11], cc tc gi m hnh
ha thi gian tr t cm bin ti b iu khin v
t b iu khin ti c cu chp hnh s dng
chui Markov. Trong [12], Wenshan Hu xut
mt m hnh iu khin d on da trn d liu
php o v thi gian truyn (Round-trip time).
Trong tip cn ny, mt tp hp cc tn hiu iu
khin cho tt c cc kh nng ca thi gian tr
c ng gi ng thi trong mt gi tin v gi
ti h chp hnh. pha h chp hnh, tn hiu
Tuyn tp cng trnh Hi ngh C in t ton quc ln th 6 779
M bi: 166
iu khin ph hp s c la chn da trn gi
tr tr tr o c. Tuy nhin, cc phng php
trn u gi s rng h thng l tuyn tnh v vic
m rng chng cho cc h phi tuyn nh robot di
ng cn nhiu thi gian nghin cu.
Trong mt hng tip cn khc, Nielsen gii
quyt tng i hon chnh bi ton iu khin
khin n nh cho cc h phi tuyn vi iu kin
thi gian tr nh hn chu k ly mu [13]. Trong
trng hp tr ln hn, Wargui xut s dng
mt b c lng d on trng thi ca h
thng ti thi im tng lai m tn hiu iu
khin hin ti s ti h chp hnh [14]. T , thay
v to tn hiu cho phn hi hin ti, b iu khin
gi tn hiu iu khin cho trng thi d on.
Hng tip cn ny kh thi v hiu qu tuy nhin
ph thuc nhiu vo s chnh xc trong c lng
trng thi.
Bi bo ny trnh by vn n nh cho robot di
ng khi iu khin phn tn qua mng my tnh
trong h thng c gi thit l ch chu tc
ng ca s tr tr. Cc nh hng khc ca mng
truyn thng nh mt mt d liu, s sai khc
th t gi tin, giao thc truyn ti s c kho
st trong cc nghin cu tip theo. T gii hn
ny, hng tip cn ca chng ti l s dng mt
b c lng trng thi tng t [14]. Tuy nhin,
cu trc ca b c lng l hon ton khc trong
chng ti xut mt b lc mi c tn l b
lc d on vi quan st qu kh PO-PF (past
observation-based predictive filter). B lc ny kt
hp d liu ca m hnh ng hc h thng, tn
hiu iu khin li vo v php o phn hi b
tr tr d on mt cch ti u (v mt thng
k) trng thi ca h robot. Cc m phng thc
nghim c thc hin v kt qu khng
nh tnh ng n ca xut.
Bi bo c trnh by theo cu trc nh sau. Phn
II gii thiu m hnh h thng v t vn bi
ton. Phn III trnh by b c lng vi b lc
PO-PF. Phn IV trnh by ci t chi tit h m
phng v kt qu. Bi bo kt thc vi nhng tho
lun v nh gi v phng php xut.

2. t vn v m hnh h thng
Phn ny trnh by tm tt vn iu khin n
nh cho robot di ng khng phn tn. Trn c s
, h robot phn tn c m hnh ha v phn
tch a n hng tip cn gii quyt bi ton
n nh.
2.1 iu khin n nh robot di ng khng
phn tn
Bo co tp trung vo loi robot di ng c hai
bnh vi sai vi rng buc khng kh tch (non-
holonomic). M hnh robot c trnh by trong
hnh 1, trong , (X
G
, Y
G
) biu din h ta ton
cc, (X
R
, Y
R
) biu din h ta cc b gn lin
vi robot, R k hiu bn knh bnh xe v L l
khong cch gia hai bnh.

H. 1 M hnh robot di ng hai bnh vi sai
M hnh ng hc ca robot c m t nh sau:
cos
sin
x v
y v

=
=
=

(1)
Trong (x, y) l ta ca robot, l hng ca
robot, v

v ln lt l vn tc di v vn tc gc
ca robot: ( ) / 2
L R
v = +

( ) /
L R
L =

vi
L
v
R
ln lt l vn tc gc ca bnh tri
v bnh phi. S dng l thuyt Lyapunov,
Aicardi [7] chng minh rng h (1) n nh
tim cn vi lut iu khin sau:
( cos )
cos sin
( )
v
w h

=
= + +
(2)


Trong , v h

l cc tham s dng; gi
O
1
X
1
Y
1
v O
2
X
2
Y
2
l h ta gn vi robot ti
im u v im ch, khi c nh ngha
l khong cch gia O
1
v O
2
, l gc to bi
vecto ni O
1
v O
2
v vecto ni O
2
v x
2
, l gc
to bi vecto ni O
1
v O
2
v vecto ni O
1
v x
1

(Hnh 2).

H. 2 Robot trong khng gian bin dn ng
Khai trin Taylor, m hnh ri rc ca (1) c dng:
1
1
1
cos
sin
k k s k k
k k s k k
k k s k
x x T v
y y T v
T

+
+
+
= +
= +
= +
(3)
v lut iu khin n nh trong min ri rc c
dng:
780 Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh
VCM2012

( cos )
cos sin
( )
k k k
k k
k k k k
k
v
w h

=
= + +
(4)
M hnh ri rc (3) v lut iu khin (4) l c s
cho thut ton iu khin n nh c trnh by
tip theo.
2.2 M hnh iu khin robot qua mng my
tnh
Xt h robot iu khin qua mng my tnh. H
thng tr thnh phn tn v hot ng ca h b
tc ng bi cc tham s mng nh thi gian tr
tr, s mt mt d liu hay bng thng cho php.
Trong s cc tham s ny, tr tr c nh hng
chnh v s c cp trong bi bo ny. Cc
tham s khc s c kho st trong cc nghin
cu tip theo. Hnh 3 biu din h robot khi c
iu khin qua mng my tnh vi n v m ln lt
l tr tr ca tn hiu iu khin v tn hiu o.

H. 3 M hnh h thng iu khin robot qua
mng my tnh
C th thy rng, do s tr tr, ti thi im k, b
iu khin ch nhn c tn hiu o ti thi im
k-m thay v k. Tng t, tn hiu iu khin gi i
ti k s ch ti c cu chp hnh vo thi im
k+n. H thng tr thnh c nh v lut iu khin
(4) khng cn m bo h thng (3) n nh tim
cn. Tuy nhin, nu ta xy dng c mt b c
lng trng thi sao cho ti thi im k, vi d
liu php o ti thi im k-m v m hnh h
thng, c th d on c trng thi ca h thng
ti thi im k+n t gi tn hiu iu khin
u
k+n
th h thng s li n nh tim cn [14].
Mt cch lng ha, gi trng thi ca robot bao
gm v tr v hng c biu din bi vecto
[ ]
T
x y = x . Trng thi ny c th c o bi
php o z. Php o ny c biu din bng mt
hm phi tuyn, h, ca trng thi robot v nhiu
php o, v. K hiu hm (3) l f, vi vecto li vo
u v nhiu li vo w, m hnh robot khi iu khin
qua mng c biu din trong khng gian trng
thi nh sau:
1 1 1 1
( , , )
( , )
k k k k n k
k k m k m k m
f
h


=
=
x x u w
z x v
(5)
T (5), chng ti xut thut ton cho php, ti
thi im k, c th c lng trng thi ti k+n,
( | ) k n k m + x , t d liu o v tn hiu iu khin
b tr. Trng thi c lng ny kt hp vi (4) s
m bo iu khin n nh h thng robot di
ng qua mng my tnh.

3. Thut ton c lng trng thi v iu
khin n nh
Phn ny trnh by gii thut d on trng thi
ca h thng trong iu kin c tn hiu iu khin
v php o phn hi u b tr tr. Thut ton c
tn b lc d on t quan st qu kh PO-PF
c xy dng trn c s l thuyt v b lc
Kalman. Trong phn ny, b lc Kalman s c
trnh by ngn gn lm c s xy dng b lc
PO-PF cho h tuyn tnh. B lc PO-PF sau
c m rng p dng cho cc h phi tuyn bao
gm robot di ng.
3.1 B lc Kalman
B lc Kalman theo nh ngha l mt tp hp cc
phng trnh ton hc quy c lng trng
thi ca mt qu trnh, sao cho ti thiu trung bnh
ca bnh phng sai s. Xt mt h thng tuyn
tnh ri rc biu din trong khng gian trng thi
trong c tn hiu u vo v php o u b tc
ng bi nhiu trng phn b Gauss nh sau:
1 1 1 1 1 k k k k k k
k k k k
A B
H

= + +
= +
x x u w
z x v
(6)
Khi , b lc Kalman c tnh ton qua hai
bc d on v hiu chnh nh sau:
- Pha d on:
1 1 1 1
1 1 1 1

k k k k k
T
k k k k k
A B
P A P A Q
+

+

= +
= +
x x u
(7)
Trong
n
k

e9 x l tin c lng ti bc k,
k
P

l ma trn hip phng sai ca sai s c

lng v
1 k
Q

l ma trn hip phng sai ca
nhiu li vo.
- Pha hiu chnh:
1
[ ]
[ ]
[ ]
T T
k k k k k k k
k k k k k k
k k k k
K P H H P H R
K H
P I K H P

+
+
= +
= +
=
x x z x (8)
Trong
n
k
e9 x l hu c lng ti bc k
bit d liu o
k
z , K
k
l h s khuch i
Kalman v R
k
l ma trn hip phng sai ca
nhiu o.
3.2 B lc d on t quan st qu kh PO-PF
B lc d on trc ht c lng trng thi hin
ti ca h thng t m hnh v php o b tr (5).
c lng ny sau c ngoi suy ti thi
im cn t tn hiu.
Tuyn tp cng trnh Hi ngh C in t ton quc ln th 6 781
M bi: 166
T hnh 2 v phng trnh (5), trng thi ti thi
im k phn nh tc ng ca li vo ti k-n-1.
Pha d on ca b lc Kalman c th vit li nh
sau:
1 1 1 1

k k k k n k n
A B
+

= + x x u (9)
Gi
*
k s s s
H = + z x v l php o b tr m chu k ti b
c lng trng thi vo thi im k. Php o ny
thc cht phn nh trng thi ca h thng ti thi
im qu kh s hn l ti k. Vic kt hp php o
*
k
z trc tip vo phng trnh hiu chnh (8) ti
thi im k do khng th thc hin c. Tuy
nhin, nu ta xem s thay i gi tr ca php o
t thi im s ti k nh l s sai khc gia cc tin
c lng ca pha d on, php o hin ti
pre
k
z
khi c th ngoi suy t php o b tr
*
k
z nh
sau:
*
( )

pre
k k k k s s
s s s k k s s
k k k k s s s
pre
k k k
H H
H H H
H H H
H



= +
= + +
= + +
= +
z z x x
x v x x
x x x v
x v

(10)
Trong , sai s c lng
k k k
-
x = x - x . Kt hp
php o d on
pre
k
z vo phng trnh hiu chnh
(8) cho:
*
*
[ ]
[ ]
[ ]
pre
k k k k k k
k k k k k s s k k
k k k s s
K H
K H H H
K H
+


= +
= + +
= +
x x z x
x z x x x
x z x
(11)
m bo s ti u trong php kt hp php o
d on, ta cn tnh li cc h s kalman K
k
v ma
trn hip phng sai sai s c lng
k
P
+
. Gi s
phng trnh (11) c thc thi vi mt gi tr ty
ca K
k
, sai s c lng,
k
+
x , tr thnh :
( )
pre
k k k k k k k k
I K H K
+ +
= = + x x x x v (12)
Ma trn hip phng sai c tnh bi:
{ }
( ) ( ) ( ) { }
{ }( ) { }
T
T
k k k
T pre T
k k k k k k k k k k
pre T T pre preT T
k k k k k k k k k
P E
I K H P I K H I K H E K
K E I K H K E K
+ + +

=
= +
+ +
x x
x v
v x v v

(13)
T (10) v tnh cht c lp gia
k

x v
k
v , cc
hip phng sai trong (13) c th tnh c nh
sau:
{ }
T
pre T T T
k k k k s
E P H M H

= x v (14)
{ }
T
pre pre T T
k k s k k k s s s
T T T
s k k s
E R H P H H P H
H MH H M H

= + +

v v
(15)
Trong { }
T
s k
M E

= x x . Thay (14) v (15) vo
(13) ta thu c:
T T T
k k s k k s
T T T
k s s s k k s k
P P M H K K H M
K H P H K K R K
+

=
+ +
(16)
Trong l thuyt v b lc Kalman, ma trn K
k

c chn sao cho ti thiu hip phng sai ca
sai s hu c lng [15]. Php ti thiu ny c
thc hin bng cch ly o hm ca vt (trace)
ca hip phng sai sai s c lng vi K
k
, t
o hm ny bng 0 v t thu c K
k
. p
dng quy trnh trn vo h thng ca ta, thu c:
( )
2 2 ( ) 0
T T T T k
s s s s k s s k
k
tr P
H M H PH K R R K
K
+
c
= + + + =
c

1
[ ]
T T T
k s s s s s
K M H H P H R

= + (17)
Thay (17) vo (16) thu c phng trnh ca
k
P
+
:
k k k s
P P K H M
+
= (18)
tnh M, ta cn tnh tin c lng ti thi im
k t c lng ti thi im s. T phng trnh d
on (9) v phng trnh hiu chnh (11),

x c
dng:
1 1 1
1 1 1 1 1 1 1

[( ) ]
k k k k k k
k k k k k k k
A
A I K H K
+

= =
= +
x x x x w
x v w

(19)
Sau m chu k tnh t thi im s ti k,

x tr
thnh:
* 1 1 2 1
( ... ) ( ... )
k s s k s k
M f f

+
= + + x x w w v v (20)
Trong :
*
1
( )
m
k i k i k i
i
M A I K H

=
=
[

(21)
1
f v
2
f l cc hm ca nhiu w v v. T (20) v
s c lp gia x vi cc nhiu v, w, ta thu c:
*
{ }
T
T
s k s
M E P M

= = x x (22)
Thay (22) vo (18) v (17) thu c:
*
T
k k k k s
P P K H P M
+
= (23)
v
1 *
* *
[ ]
T T
k s s s s s s s
K M P H H P H R M K

= + = (24)
Trong
*
s
K l h s Kalman ti thi im s ca
b lc Kalman chun (8).
T (24), c th nhn thy rng vic cp nht php
o b tr vo tnh ton Kalman hin ti k thc cht
c thc hin bnh thng nh ti thi im s
nhng h s Kalman cn thay i mt lng nhn
*
M . H s ny phn nh s tng quan ca php
o qu kh ti thi im s vi trng thi hin ti k.

3.3 M rng b lc PO-PF cho h robot phi
tuyn phn tn qua mng
B lc PO-PF xy dng trn c th ng dng
cho h iu khin phn tn nhng i hi h phi
tuyn tnh. Phn ny trnh by vic m rng b lc
PO-PF cho h phi tuyn. tng cho vic m
rng da trn phng php xy dng b lc
782 Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh
VCM2012
Kalman m rng. l s tuyn tnh ha h phi
tuyn quanh cc im c lng trc.
Thc hin khai trin Taylor cho phng trnh
trng thi ti im
1 1
( , , 0)
k k
+

x u thu c:
1 1
1 1
1
1 1 1 1 1
( , ,0)
1
1
( , , 0)
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1
1 1
( , , 0) ( )
(25)
( , , 0) ( )
[ ( , , 0) ]
k k
k k
k
k k k k k k
k
k
k k k k k k k k
k k k k k k k k k
k k k
f
f
f
f A W
A f A W
A
+

+

+ +

+ +

+ +


c
= +
c
c
+
c
= + +
= + +
= +
x u
x u
x x u x x
x
w
w
x u x x w
x x u x w
x u
1 1 k
+ w
Trong
1 k
A

,
1 k
W

,
1 k
u ,
1 k
w xc nh bi phng
trnh trn. Tng t, tuyn tnh ha hm o ti

k k

= x x v 0
k
= v thu c:
( , 0) ( ,0)
( , 0) ( )
( , 0) ( )
[ ( , 0) ]
k k
k k
k k k k k k
k k k k k k k
k k k k k k k k
k k k k
h h
h
h H V
H h H V
H




c c
= + +
c c
= + +
= + +
= + +
x x
z x x x v
x v
x x x v
x x x v
x z v
(26)
Trong
k
H ,
k
V ,
k
z ,
k
v xc nh bi phng
trnh trn. Phng trnh h thng (25) v php o
(26) by gi tr thnh tuyn tnh. p dng b lc
PO-PF vo cc phng trnh ny kt hp vi pha
ngoi suy thu c b lc PO-PF hon chnh cho
h robot phi tuyn phn tn quang mng my tnh
nh sau:
- Pha d on:
1 1 1
1 1
( , , )
k k k k n
T T
k k k k k k k
f
P A P A W Q W
+

+

=
= +
x x u 0
(27)

- Pha hiu chnh:
*
1
1
*
*
*
( )
( )
[ ( , )]
m
k i k i k i
i
T T T
k s s s s s s s s
k k k k s
T
k k k k s
M A I K H
K M P H H P H V RV
K h
P P K H P M

=

+
+
=
= +
= +
=
[
x x z x 0
(28)

- Pha ngoi suy:
1 1 1
( , , )
k n k n k n k n
f

+ + + +
= x x u 0 (29)
-3 -2 -1 0
-3
-2
-1
0
X(m)
Y
(
m
)

0 100 200 300
0
0.5
1
1.5
Time(100ms)
T
h
e
t
a
(
r
a
d
)

0 50 100 150 200 250
0
5
10
15
Time (10ms)


0 50 100 150 200 250
-5
0
5
10
v(m/s)
w(rad/s)

H. 4 Qu o ca robot trong qu trnh iu khin khng tr.
a) Qu o trong mt phng chuyn ng OXY b) Bin thin hng ca robot c) Bin thin vn
tc di v vn tc gc
b)
a)
c)
b)
Tuyn tp cng trnh Hi ngh C in t ton quc ln th 6 783
M bi: 166
-4 -2 0 2
-3
-2
-1
0
1
X(m)
Y
(
m
)
0 100 200 300
-2
-1
0
1
2
Time(100ms)
T
h
e
t
a
(
r
a
d
)

0 50 100 150 200 250
0
2
4
6
8
10
12
Time (10ms)


0 50 100 150 200 250
-4
-2
0
2
4
6
8
v(m/s)
w(rad/s)

H. 5 Qu o ca robot trong qu trnh iu khin c tr (n=10, m=20) nhng cha s dng b lc PO-
PF.
a) Qu o trong mt phng chuyn ng OXY b) Bin thin hng ca robot c) Bin thin vn
tc di v vn tc gc
-4 -2 0 2
-3
-2
-1
0
1
X(m)
Y
(
m
)


0 100 200 300
-0.5
0
0.5
1
1.5
2
Time(100ms)
T
h
e
t
a
(
r
a
d
)

0 50 100 150 200 250
0
10
20
Time (10ms)


0 50 100 150 200 250
-10
0
10
v(m/s)
w(rad/s)

H. 6 Qu o ca robot trong qu trnh iu khin c tr c s dng b lc PO-PF.
a) Qu o trong mt phng chuyn ng OXY b) Bin thin hng ca robot c) Bin thin vn
tc di v vn tc gc
-1.5 -1 -0.5 0
-2
-1.5
-1
-0.5
0
0.5
X(m)
Y
(
m
)

0 100 200 300
-1
0
1
2
Time(100ms)
T
h
e
t
a
(
r
a
d
)

0 50 100 150 200 250
0
5
10
Time (10ms)


0 50 100 150 200 250
-5
0
5
v(m/s)
w(rad/s)

H. 7 Qu o ca robot trong qu trnh iu khin c tr (n=15, m=25) c s dng b lc PO-PF.
a) Qu o trong mt phng chuyn ng OXY b) Bin thin hng ca robot c) Bin thin vn
tc di v vn tc gc
a)
b) a)
c)
b) c)
784 Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh
VCM2012
0 100 200 300
0
0.5
1
1.5
Time(100ms)
D
e
v
i
a
t
i
o
n
(
m
)


Kalman thuong
PO-PF
0 100 200 300
0
0.2
0.4
0.6
0.8
1
Time(100ms)
D
e
v
i
a
t
i
o
n

Y
(
m
)


Kalman thuong
PO-PF

0 100 200 300
0
0.2
0.4
0.6
0.8
1
Time(100ms)
D
e
v
i
a
t
i
o
n

T
h
e
t
a
(
r
a
d
)


Kalman thuong
PO-PF

H. 8 So snh lch ca ng c lng vi ng thc cho b lc Kalman v b lc PO-PF.
a) lch theo phng X b) lch theo phng Y c) lch hng

4. M phng
nh gi hiu qu v kh nng ng dng ca
b lc PO-PF kt hp vi lut iu khin (4) cho
bi ton iu khin n nh robot di ng phn tn,
chng ti tin hnh m phng gii thut trn
Matlab.
4.1 Ci t m phng
Trong thit lp chng trnh m phng, robot l
loi hai bnh vi sai vi m hnh ng hc m t
trong phn II. Bn knh ca bnh xe l 0.05m v
khong cch gia cc bnh l 0.6m. Thi gian ly
mu l 10ms. Cc tham s cho b iu khin (4)
c la chn nh sau: =6, h=1, =3. Ma trn
hip phng sai ca nhiu li vo Q v nhiu php
o R c la chn nh sau:
0.01 0
0 0.01
k
Q
(
=
(


0.01 0 0
0 0.01 0
0 0 0.018
k
R
(
(
(
(

= (30)
Cc tham s ny c thit lp trn c s mt h
thng robot thc c xy dng ti phng
nghin cu ca chng ti [16]. Cc tham s cn li
cn thit cho vic ci t m phng c tnh t
m hnh trng thi robot (5):
1
( , , )

1 0 sin

0 1 cos
0 0 1
k k
s c k
k
k s c k
T v
f
A T v

+
+
+
+
(

(
c
( = =
c
(
(

x u 0
x
(31)
1
( , , )

cos cos

sin sin
2
2 2
k k
k k
k
k s k k
f R
W T
L L


+
+ +
+ +
+
(
(
( c
= =
(
c
(
(

x u 0
w
(32)
k k
H V I = = (33)
4.2 M phng bi ton iu khin n nh
nh gi thut ton xut, chng trnh trc
ht kim tra tnh ng n ca lut iu khin (4)
trong vic m bo s n nh tim cn cho h
robot khi khng c tr. Hnh 4 trnh by kt qu
m phng iu khin robot vi trng thi u (-3, -
3, 0
0
), trng thi ch (0, 0, 0
0
). C th thy cc ta
(x, y) v hng ca robot tin v trng thi
ch (0, 0, 0
0
) ng thi vn tc di v vn tc gc
cng tin v 0. H thng do n nh tim cn.
By gi xt h thng khi iu khin phn tn qua
mng. iu ny c m phng bng vic to ra
s tr tr tn hiu h thng. Kt qu m phng
lut iu khin (4) vi cc tn hiu iu khin v
php o phn hi b tr tr ln lt 100ms (n=10)
v 200ms (m=20) c th hin trong hnh 5. Mc
d ta (x, y) c xu hng tin v (0, 0) nhng
gi tr hng li khng hi t v 0. Ngoi ra, vn
tc gc cng tin ti gi tr 1.7rad thay v 0. H
thng do khng n nh tim cn. Hnh 6 trnh
by kt qu m phng cho trng hp tr trn
vi phn c lng trng thi s dng b lc PO-
PF. C th nhn thy rng khi p dng b lc PO-
PF th h thng li n nh tim cn tr li. Hnh 7
trnh by kt qu iu khin n nh dng PO-PF
cho trng hp im xut pht (-1.5,-2,/2), im
ch (0,0,0
0
), tr tn hiu 150ms (n=15) v tr h
thng 250ms (m=25).

5. Tho lun
Hnh 8 so snh lch gia ta c lng so
vi ta thc trong hai trng hp s dng b
lc Kalman m rng v s dng b lc PO-PF.
lch t hn ca b lc PO-PF chng t hiu qu
ca gii thut cng nh gii thch s n nh tim
cn ca h thng phn tn qua mng.
Chng ti tin hnh m phng vi nhiu v tr
xut pht ca robot cng nh vi tr tr khc
nhau ca mng truyn thng. Trong cc trng
hp, b lc PO-PF u m bo tnh n nh tim
cn ca h thng. Trong qu trnh m phng,
chng ti cng nhn ra rng thit lp gi tr ban
u cho ma trn hip phng sai sai s c lng
P ng vai tr quan trng cho s hi t ca thut
a) b) c)
Tuyn tp cng trnh Hi ngh C in t ton quc ln th 6 785
M bi: 166
ton. Gi tr P thng chn nh hn ma trn hip
phng sai nhiu php o R trnh s thay i
t bin trong cc c lng u tin khi bt u
c d liu o phn hi.

6. Kt lun
Trong bi bo ny, chng ti xut gii thut
cho php iu khin n nh h robot di ng phn
tn qua mng my tnh chu s tc ng ca thi
gian tr. ng gp chnh ca bi bo l vic xy
dng mt b lc c lng trng thi mi, trn c
s l thuyt v b lc Kalman, cho php c
lng v d on trng thi ca h thng ti thi
im hin ti v tng lai (gii hn bi thi gian
tr ca tn hiu iu khin li vo) t d liu php
o b tr tr. Kt qu m phng khng nh tnh
ng n ca thut ton. Trong nghin cu tip
theo, nhm tc gi s ng dng gii thut va xy
dng vo h robot thc pht trin ti phng th
nghim. Cc vn khc lin quan ti truyn
thng qua mng my tnh nh s mt mt d liu,
sai th t gi tin hay bng thng gii hn cng s
c kho st.

Ti liu tham kho
[1] K. Goldberg and R. Siegwart, Beyond
Webcams: An Introduction to Online Robots,
MIT Press, 2002.
[2] E. Paulos and J. Canny, Delivering real reality
to the World Wide Web via telerobotics,
Proceedings of the 1996 IEEE International
Conference on Robotics and Automation, 1996.
[3] D. Wang, J. Yi, D. Zhao and G. Yang,
Teleoperation System of the Internet-based
Omnidirectional Mobile Robot with A Mounted
Manipulator, Proceedings of the 2007 IEEE
International Conference on Mechatronics and
Automation, 2007.
[4] Peter X. Liu, Max Q.-H. Meng, Polley R. Liu,
and Simon X. Yang, An End-to-End
Transmission Architecture for the Remote
Control of Robots Over IP Networks,
IEEE/ASME transactions on mechatronics,
Vol. 10, No. 5, 2005.
[5] Alberto Sanfeliu, Norihiro Hagita, Alessandro
Saffiotti, Network robot systems, J. Robotics
and Autonomous Systems 56 (2008) 793797,
Elsevier, 2008.
[6] M. Shiomi, T. Kanda, H. Ishiguro, N. Hagita,
Interactive humanoid robots for a science
museum, IEEE Intelligent Systems 22 (2) 25
32, 2007.
[7] M. Aicardi, G. Casalino, A. Bicchi and A.
Balestrino, - Closed loop steering of unicycle-
like vehicles via Lyapunov techniques, IEEE
Robot. & Autom. Mag., 2 (1) (1995) 27-35.
[8] B. M. Kim and P. Tsiotras, - Controllers for
unicycle-type wheeled robots: Theoretical
results and experimental validation, IEEE
Trans. Robot. & Autom., 18 (3) (2002) 294-
307.
[9] C. Chen, T. S. Li , Y. Yeh, C. Chang, - Design
and implementation of an adaptive sliding-
mode dynamic controller for wheeled mobile
robots, J. Mechatronics 19 (2009) 156166.
[10] A. Ray and Y. Halevi, Integrated
Communication and Control Systems Part - I
and part 11, ASME J. Dyn. Sys., Meas. &
Contr., vol. 110, pp. 367-381, Dec. 1988.
[11] R. Krtolica, U. Ozguner, H. Chan, H. Goktas,
Winkelman, Stability of linear feedback
systems with random communication delays,
Int. J. Control, vol 59, No. 4, pp. 925-953,
1994.
[12] Wenshan Hu, Guo-Ping Liu, and David Rees,
Networked Predictive Control Over the
Internet Using Round-Trip Delay
Measurement, IEEE Trans. On
Instrumentation and Measurement, Vol. 57, No.
10, 2008.
[13] Johan Nilsson, Bo Bernhardsson, Bjrn
Wittenmark, Stochastic analysis and control of
real-timesystems with random timedelays, J.
Automatica, Vol. 34, Issue 1, pp. 5764, 1998.
[14] M. Wargui, A. Tayebi, M. Tadjine and A.
Rachid, On the stability of an autonomous
mobile robot subject to network induced delay,
Proc. of the 1997 IEEE Int. Conf. on Control
Applications, 1997.
[15] Greg Welch and Gary Bishop, An Introduction
to the Kalman Filter, Proceedings of
SIGGRAPH, 2001.
[16] P. M. Duong, T. T. Hoang, N. T. T. Van, D. A.
Viet and T. Q. Vinh, A Novel Platform for
Internet-based Mobile Robot Systems, 7th
IEEE Conference on Industrial Electronics &
Applications (ICIEA), Singapore, 2012.


Phng Mnh Dng nhn bng
c nhn ti trng i hc Cng
ngh, i hc Quc gia H Ni
nm 2005. Hin anh l Nghin
cu sinh ti Khoa in t - Vin
thng, trng i hc Cng
Ngh, i Hc Quc Gia H
Ni. Hng nghin cu chnh
bao gm cc h robot di ng phn tn qua mng
my tnh.


786 Phng Mnh Dng, Nguyn Th Thanh Vn, Trn Thun Hong, Trn Quang Vinh
VCM2012
Nguyn Th Thanh Vn sinh
nm 1979. Nhn bng C in
t ca Vin Cng ngh Chu
(AIT), Thi Lan nm 2006. T
nm 2007 n nay l ging vin
Khoa in t- Vin thng, i
hc Cng ngh, i hc Quc
gia H Ni. Hng nghin cu
chnh v cc h thng iu khin, iu khin dn
ng cho robot di ng.


Trn Thun Hong sinh nm
1970. Anh nhn bng thc s
v o lng v cc h thng
iu khin ca trng i hc
Bch Khoa Nng nm 1998,
nhn bng thc s Mng v h
thng in nm 2009 ca i
Hc Nng. Anh hin l
nghin cu sinh ti Khoa in t - Vin thng,
trng i hc Cng Ngh, i Hc Quc Gia H
Ni. Hng nghin cu chnh bao gm tng hp
cc cm bin cho nh v v dn ng robot di
ng.


Trn Quang Vinh bo v tin s
Vt l V tuyn in ti H
Quc gia H ni trn c s cc
nghin cu thc nghim ti i
hc Tng hp K thut TU
Wien (o) nm 2001. Hin l
Ph gio s, Ch nhim B mn
in t v K thut my tnh,
Trng phng th nghim Cc h tch hp thng
minh (SIS) ti trng H Cng ngh. Hng
chuyn mn quan tm hin nay: o lng v iu
khin dng vi tnh v vi x l cho cc lnh vc: vt
l, ha hc, mi trng, y-sinh, nh thng
minh; iu khin t ng v robot thng minh
(robot di ng t tr, robot ni mng); Thit k
chip in t tch hp c ln VLSI, FPGA, ASIC.