Predictor-Based Remote Tracking Control of a Mobile Robot
Alejandro Alvarez-Aguirre, Nathan van de Wouw, Toshiki Oguchi, Henk Nijmeijer · IEEE Transactions on Control Systems Technology · 2014
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.