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.
Original language | English |
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Title of host publication | 2015 Chinese Automation Congress (CAC) |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 1699-1704 |
Number of pages | 6 |
Publication status | Published - 2015 |
Event | Chinese Automation Congress (CAC) - Wuhan Duration: 27 Nov 2015 → 29 Nov 2015 |
Conference
Conference | Chinese Automation Congress (CAC) |
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City | Wuhan |
Period | 27/11/15 → 29/11/15 |
Keywords
- remote control
- communication delay
- wheeled mobile robots
- MOBILE ROBOTS
- TRACKING CONTROL
- FEEDBACK LINEARIZATION