Abstract In this chapter, the tracking control problem for a unicycle-type mobile robot with network-induced delays is addressed. The time-delay affects the system due to the fact that the controller and the robot are linked via a delay-inducing communication channel, by which the performance and stability of the system are possibly compromised. In order to tackle the problem, a state estimator with a predictor-like structure is proposed. Acting in conjunction with a tracking control law, the resulting control strategy is capable of stabilizing the system and compensates for the negative effects of the time-delay. The local uniform asymptotic stability of the closed-loop system is guaranteed up to a maximum admissible time-delay, for which explicit expressions are provided in terms of the system’s control parameters. The applicability of the proposed estimator-control strategy is demonstrated by means of experiments carried out between multi-robot platforms located in Eindhoven, The Netherlands and Tokyo, Japan.


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    Title :

    Remote Tracking Control of Unicycle Robots with Network-Induced Delays


    Contributors:


    Publication date :

    2011-01-01


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Remote Tracking Control of Unicycle Robots with Network-Induced Delays

    Alvarez-Aguirre, A. / van de Wouw, N. / Oguchi, T. et al. | British Library Conference Proceedings | 2011


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