  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.
