Tracking control of wheeled mobile robots with communication delay and data loss

Tian-Yong Zhang, G-P Liu

Allbwn ymchwil: Cyfraniad at gyfnodolynErthygladolygiad gan gymheiriaid

33 Wedi eu Llwytho i Lawr (Pure)

Crynodeb

This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.

Iaith wreiddiolSaesneg
Tudalennau (o-i)927-945
Nifer y tudalennau19
CyfnodolynJournal of Systems Science and Complexity
Cyfrol31
Rhif cyhoeddi4
Dyddiad ar-lein cynnar8 Rhag 2017
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsE-gyhoeddi cyn argraffu - 8 Rhag 2017

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