DeepAI AI Chat

Robust asymptotic stability of two-wheels differential drive mobile robot

05/13/2020

∙

by Thi Thanh Van Nguyen, et al.

∙

∙

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.

Thi Thanh Van Nguyen
4 publications
Manh Duong Phung
21 publications
Quang Vinh Tran
8 publications

∙ 09/08/2018

Stable Stair-Climbing of a Quadruped Robot

Synthesizing a stable gait that enables a quadruped robot to climb stair...

0 Ali Zamani, et al. ∙

∙ 09/20/2020

Comparing Feedback Linearization and Adaptive Backstepping Control for Airborne Orientation of Agile Ground Robots using Wheel Reaction Torque

In this paper, two nonlinear methods for stabilizing the orientation of ...

0 Jinho Kim, et al. ∙

∙ 12/11/2020

Analysis of a new chaotic system, electronic realization and use in navigation of differential drive mobile robot

This paper presents a new chaotic system having four attractors, includi...

0 Christian Nwachioma, et al. ∙

∙ 05/13/2020

Stabilization control of networked mobile robot using past observation-based preditive filter

This paper addresses the stabilization control problem for networked mob...

0 Manh Duong Phung, et al. ∙

∙ 11/18/2018

Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints

In this paper, we propose a nonlinear control strategy for swinging up a...

0 Nikhil Potu Surya Prakash, et al. ∙

∙ 10/03/2018

Learning an internal representation of the end-effector configuration space

Current machine learning techniques proposed to automatically discover a...

0 Alban Laflaquière, et al. ∙

∙ 10/16/2020

Stability and Robustness of the Disturbance Observer-based Motion Control Systems in Discrete-Time Domain

This paper analyses the robust stability and performance of the Disturba...

0 Emre Sariyildiz, et al. ∙