relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2560/
title: Robust asymptotic stability of two-wheels differential drive mobile robot
creator: Nguyen, Thi Thanh Van
creator: Phung, Manh Duong
creator: Tran, Quang Vinh
subject: Electronics and Communications
subject: Electronics and Computer Engineering
description: 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.
date: 2014
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2560/1/VCM-2014-Nguyen%20Thi%20Thanh%20Van.pdf
identifier:   Nguyen, Thi Thanh Van and Phung, Manh Duong and Tran, Quang Vinh  (2014) Robust asymptotic stability of two-wheels differential drive mobile robot.  In: 7th Vietnam Conference on Mechatronics, 2014, Bien Hoa, Vietnam.