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Robust asymptotic stability of two-wheels differential drive mobile robot

Thi Thanh Van Nguyen and Manh Duong Phung and Quang Vinh Tran (2014) Robust asymptotic stability of two-wheels differential drive mobile robot. In: 7th Vietnam Conference on Mechatronics, 2014, Bien Hoa, Vietnam.

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Abstract

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of robot into two parts: glocal and local configuration then the control law is designed following Lyapunov stable theory for two configuration. The proposed stable control laws is able to reach asymptotically stably to target position and orientation from any initial conditions even existing noise in the system. Some simulation results have demonstrated the effect of proposed method.

Item Type:Conference or Workshop Item (Paper)
Subjects:Electronics and Communications
Electronics and Communications > Electronics and Computer Engineering
Divisions:Faculty of Electronics and Telecommunications (FET)
ID Code:2560
Deposited By: Dr Manh Duong Phung
Deposited On:24 Jul 2017 02:52
Last Modified:24 Jul 2017 02:52

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