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Control Lyapunov — Barrier Function Implementation for Mobile Robot Model with Hardware in the Loop

This paper contains the implementation of Control Lyapunov – Barrier Function (CLBF) method on a mobile robot model with Hardware in the Loop (HIL) simulation. By implementing CLBF, the mobile robot system can reach the origin and avoid barriers, so the system's stability and safety can be achieved. System testing is carried out by designing a virtual plant on Simulink by applying the CLBF method. Data Acquisition (DAQ) is the supporting device used to receive and send data between the actual controller and the virtual plant. The results of this study show an average error value of 1.51% for the simulation and 3.89% for HIL. The system's closest distance from the first barrier is 1.48 meter for simulation and 1.05 meter for HIL, while the system's closest distance from the second barrier is 0.67 meter for simulation and 0.51 meter for HIL.