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Positioning and Trajectory Tracking for Caterpillar Vehicles in Unknown Environment
Van Lanh Nguyen,Dae Hwan Kim,Van Sy Le,Sang Kwun Jeong,Choong Hwan Lee,김학경,Sang Bong Kim 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.12
This paper proposes positioning and trajectory tracking for Caterpillar Vehicles (CVs) in unknown environments. To do these tasks, the following are performed. Firstly, a system modeling of the Caterpillar Vehicle is presented. Secondly, solving the complicated tracking control problem in unknown environments is a challenging mission. Therefore, to guarantee the Caterpillar Vehicle system to be strong robustness against external disturbances in the unknown environments, a MIMO robust servo controller for tracking the desired trajectory is designed by using a Linear Shift Invariant Differential (LSID) operator. The CVs are able to accomplish various tasks in dangerous places where workers cannot enter. Thirdly, the positioning of the CV can be obtained using a Simultaneous Localization and Mapping (SLAM) method. This paper develops perfectly the SLAM algorithm for positioning of the CV based on laser sensor Lidar. The main advantage of this method is that it does not need to use more landmarks. Landmarks can be obtained from the unknown environment. Thus, the CV can work even in unknown environments and unsafe places. Finally, to verify the effectiveness of the proposed MIMO robust servo controller and the SLAM positioning algorithm, the experimental results are presented. The experimental results demonstrate the adequate tracking performance of the proposed MIMO robust servo controller in the unknown environment.
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Factors Influencing Corporate Debt Maturity: An Empirical Study of Listed Companies in Vietnam
Van Toan NGO,Thi Lanh LE 한국유통과학회 2021 The Journal of Asian Finance, Economics and Busine Vol.8 No.5
The maturity structure of corporate debt is one of the significant financing choices that a firm must make simultaneously while deciding how to finance its operational and investment decisions. Even though the capital structure is one of the scrutinized topics of interest in the corporate finance literature, scarce studies have investigated corporate debt maturity, even less so in the context of emerging markets. The choice of a suitable debt maturity structure is exceptionally relevant for firms. It can enable them to avoid mismatch by aligning assets in line with liabilities, addressing agency-related problems, sidestep the ill effects of cost of capital, and signaling the firms’ earning quality and value. The study investigates the firm-specific and macroeconomic determinants significant for the debt maturity structure of Vietnamese corporate firms. A sample of 722 non-financial firms listed on the Ho Chi Minh and Hanoi Stock Exchange in Vietnam from 2007 to 2018 was taken to test the hypothesis. The study’s methods fixed effects panel data analysis provides empirical evidence that firm size, firms’ quality, liquidity, leverage, asset maturity, tax impact, and macro variables are significantly related to the debt maturity structure.
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Linkage Between Exchange Rate and Stock Prices: Evidence from Vietnam
DANG, Van Cuong,LE, Thi Lanh,NGUYEN, Quang Khai,TRAN, Duc Quang Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.12
The study investigates the asymmetric effect of exchange rate changes on stock prices in Vietnam. We use the nonlinear autoregressive-distributed lag (ARDL) analysis for monthly data from 2001:01 to 2018:05, based on VN-Index stock price collected from Ho Chi Minh Stock Exchange (HOSE); the nominal exchange rate is separated into currency depreciation and appreciation through a partial sum decomposition process. Asymmetry is estimated both in the long-run relationship and the short-run error correction mechanism. The research results show that the effect of exchange rate changes on stock prices is asymmetrical, both in the short run and in long run. Accordingly, the stock prices react to different levels to depreciation and appreciation. However, the currency appreciation affects a stronger transmission of stock prices when compared to the long-run currency depreciation. In the absence of asymmetry, the exchange rate only has a short-run impact on stock prices. This implies a symmetrical assumption that underestimates the impact of exchange rate changes on stock prices in Vietnam. This study points to an important implication for regulators in Vietnam. They should consider the relationship between exchange rate changes and stock prices in both the long run and the short run to manage the stock and foreign exchange market.
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