TY - JOUR
T1 - Predictor-based remote tracking control of a mobile robot
AU - Alvarez-Aguirre, dr., A.
AU - Wouw, van de, N.
AU - Oguchi, T.
AU - Nijmeijer, H.
PY - 2014
Y1 - 2014
N2 - In this paper, we address the tracking control problem for a unicycle-type mobile robot which is remotely controlled by a two-channel, delay-inducing communication network. A predictor-based control strategy capable of controlling the negative effects of the time-delay is proposed. Moreover, conditions are provided guaranteeing the local or global asymptotic stability of the closed-loop system up to a maximum admissible delay. The applicability of the proposed predictor-controller combination is demonstrated using an interconnected robotic platform located partly in Eindhoven, the Netherlands, and Tokyo, Japan
AB - In this paper, we address the tracking control problem for a unicycle-type mobile robot which is remotely controlled by a two-channel, delay-inducing communication network. A predictor-based control strategy capable of controlling the negative effects of the time-delay is proposed. Moreover, conditions are provided guaranteeing the local or global asymptotic stability of the closed-loop system up to a maximum admissible delay. The applicability of the proposed predictor-controller combination is demonstrated using an interconnected robotic platform located partly in Eindhoven, the Netherlands, and Tokyo, Japan
U2 - 10.1109/TCST.2014.2304741
DO - 10.1109/TCST.2014.2304741
M3 - Article
SN - 1063-6536
VL - 22
SP - 2087
EP - 2102
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
ER -