Remote tracking of nonholonomic mobile robots via networked predictive control

Tian-Yong Zhang; G-P Liu

Remote tracking of nonholonomic mobile robots via networked predictive control

Tian-Yong Zhang^*, 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 considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.

Iaith wreiddiol	Saesneg
Teitl	2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION
Cyhoeddwr	Institute of Electrical and Electronics Engineers
Tudalennau	84-89
Nifer y tudalennau	6
Statws	Cyhoeddwyd - 2016
Digwyddiad	IEEE International Conference on Mechatronics and Automation - Harbin Hyd: 7 Awst 2016 → 10 Awst 2016

Cynhadledd

Cynhadledd	IEEE International Conference on Mechatronics and Automation
Dinas	Harbin
Cyfnod	7/08/16 → 10/08/16

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@inproceedings{c36302458c074062ac16d228c64ab164,

title = "Remote tracking of nonholonomic mobile robots via networked predictive control",

abstract = "This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.",

keywords = "Networked predictive control, nonholonomic mobile robot, remote tracking, communication delay, SYSTEMS",

author = "Tian-Yong Zhang and G-P Liu",

year = "2016",

language = "English",

pages = "84--89",

booktitle = "2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION",

publisher = "Institute of Electrical and Electronics Engineers",

note = "IEEE International Conference on Mechatronics and Automation ; Conference date: 07-08-2016 Through 10-08-2016",

}

TY - GEN

T1 - Remote tracking of nonholonomic mobile robots via networked predictive control

AU - Zhang, Tian-Yong

AU - Liu, G-P

PY - 2016

Y1 - 2016

N2 - This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.

AB - This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.

KW - Networked predictive control

KW - nonholonomic mobile robot

KW - remote tracking

KW - communication delay

KW - SYSTEMS

M3 - Conference contribution

SP - 84

EP - 89

BT - 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION

PB - Institute of Electrical and Electronics Engineers

T2 - IEEE International Conference on Mechatronics and Automation

Y2 - 7 August 2016 through 10 August 2016

ER -

Remote tracking of nonholonomic mobile robots via networked predictive control

Crynodeb

Cynhadledd

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