Model-based Remote Control of Nonholonomic Wheeled Robot with Time Delay and Packet Loss in Forward Channel

Jun Zhao; G-P Liu

Model-based Remote Control of Nonholonomic Wheeled Robot with Time Delay and Packet Loss in Forward Channel

Jun Zhao^*, G-P Liu

^*Awdur cyfatebol y gwaith hwn

Cyfadran Cyfrifiadureg, Peirianneg a Gwyddoniaeth

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion Cynhadledd › Cyfraniad i gynhadledd › adolygiad gan gymheiriaid

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This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment.

Iaith wreiddiol	Saesneg
Teitl	2015 Chinese Automation Congress (CAC)
Cyhoeddwr	Institute of Electrical and Electronics Engineers
Tudalennau	1699-1704
Nifer y tudalennau	6
Statws	Cyhoeddwyd - 2015
Digwyddiad	Chinese Automation Congress (CAC) - Wuhan Hyd: 27 Tach 2015 → 29 Tach 2015

Cynhadledd

Cynhadledd	Chinese Automation Congress (CAC)
Dinas	Wuhan
Cyfnod	27/11/15 → 29/11/15

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@inproceedings{878db48a1b424cec897bb94fbb92576f,

title = "Model-based Remote Control of Nonholonomic Wheeled Robot with Time Delay and Packet Loss in Forward Channel",

abstract = "This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment.",

keywords = "remote control, communication delay, wheeled mobile robots, MOBILE ROBOTS, TRACKING CONTROL, FEEDBACK LINEARIZATION",

author = "Jun Zhao and G-P Liu",

year = "2015",

language = "English",

pages = "1699--1704",

booktitle = "2015 Chinese Automation Congress (CAC)",

publisher = "Institute of Electrical and Electronics Engineers",

note = "Chinese Automation Congress (CAC) ; Conference date: 27-11-2015 Through 29-11-2015",

}

TY - GEN

T1 - Model-based Remote Control of Nonholonomic Wheeled Robot with Time Delay and Packet Loss in Forward Channel

AU - Zhao, Jun

AU - Liu, G-P

PY - 2015

Y1 - 2015

N2 - This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment.

AB - This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment.

KW - remote control

KW - communication delay

KW - wheeled mobile robots

KW - MOBILE ROBOTS

KW - TRACKING CONTROL

KW - FEEDBACK LINEARIZATION

M3 - Conference contribution

SP - 1699

EP - 1704

BT - 2015 Chinese Automation Congress (CAC)

PB - Institute of Electrical and Electronics Engineers

T2 - Chinese Automation Congress (CAC)

Y2 - 27 November 2015 through 29 November 2015

ER -

Model-based Remote Control of Nonholonomic Wheeled Robot with Time Delay and Packet Loss in Forward Channel

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