Remote tracking of nonholonomic mobile robots via networked predictive control

Tian-Yong Zhang*, G-P Liu

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddCyfraniad i gynhadleddadolygiad gan gymheiriaid

Crynodeb

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 wreiddiolSaesneg
Teitl2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION
CyhoeddwrInstitute of Electrical and Electronics Engineers
Tudalennau84-89
Nifer y tudalennau6
StatwsCyhoeddwyd - 2016
DigwyddiadIEEE International Conference on Mechatronics and Automation - Harbin
Hyd: 7 Aug 201610 Aug 2016

Cynhadledd

CynhadleddIEEE International Conference on Mechatronics and Automation
DinasHarbin
Cyfnod7/08/1610/08/16

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