Robust asymptotic stability of two-wheels differential drive mobile robot
Robotics
2020-05-14 v1 Systems and Control
Systems and Control
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.
Keywords
Cite
@article{arxiv.2005.06181,
title = {Robust asymptotic stability of two-wheels differential drive mobile robot},
author = {Thi Thanh Van Nguyen and Manh Duong Phung and Quang Vinh Tran},
journal= {arXiv preprint arXiv:2005.06181},
year = {2020}
}
Comments
in Proceeding of The 8th Vietnam Conference on Mechatronics (VCM 2014). in Vietnamese language