eprintid: 2560
rev_number: 8
eprint_status: archive
userid: 285
dir: disk0/00/00/25/60
datestamp: 2017-07-24 02:52:04
lastmod: 2017-07-24 02:52:04
status_changed: 2017-07-24 02:52:04
type: conference_item
metadata_visibility: show
creators_name: Nguyen, Thi Thanh Van
creators_name: Phung, Manh Duong
creators_name: Tran, Quang Vinh
creators_id: vanntt@vnu.edu.vn
creators_id: duongpm@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: Robust asymptotic stability of two-wheels differential drive mobile robot
ispublished: pub
subjects: ECE
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
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.
date: 2014
date_type: published
full_text_status: public
pres_type: paper
event_title: 7th Vietnam Conference on Mechatronics
event_location: Bien Hoa, Vietnam
event_dates: 2014
event_type: conference
refereed: TRUE
related_url_url: http://uet.vnu.edu.vn/~duongpm/
related_url_type: author
citation:   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.     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2560/1/VCM-2014-Nguyen%20Thi%20Thanh%20Van.pdf