Predictor-based remote tracking control of a mobile robot

A. Alvarez-Aguirre, dr., N. Wouw, van de, T. Oguchi, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

24 Citations (Scopus)
9 Downloads (Pure)


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
Original languageEnglish
Pages (from-to)2087-2102
JournalIEEE Transactions on Control Systems Technology
Issue number6
Publication statusPublished - 2014


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