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.
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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) |
| Depositing User: | Dr Manh Duong Phung |
| Date Deposited: | 24 Jul 2017 02:52 |
| Last Modified: | 24 Jul 2017 02:52 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/2560 |
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