Remote control of a mobile robot subject to a communication delay

A. Alvarez Aguirre, H. Nijmeijer, T. Oguchi, K. Kojima

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)


This paper addresses the remote tracking control of a mobile robot subject to a bilateral time-delay. The delay affects the system since the controller and the robot are linked via a delay inducing communication channel, such as the Internet, and consequently, the performance and stability of the system are compromised. Based on the notion of anticipating synchronization, a state estimator which stabilizes the system when it is affected by a bilateral time-delay is proposed. A stability analysis including the system, tracking controller and estimator is provided, and the applicability of the proposed delay compensation strategy is demonstrated by means ofexperiments between multi-robot platforms located in Eindhoven, The Netherlands and Tokyo, Japan.
Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010), 15-18 june 2010,
Place of PublicationPortugal, Funchal, Madeira
Publication statusPublished - 2010


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