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

Jun Zhao*, G-P Liu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish
Title of host publication2015 Chinese Automation Congress (CAC)
PublisherInstitute of Electrical and Electronics Engineers
Pages1699-1704
Number of pages6
Publication statusPublished - 2015
EventChinese Automation Congress (CAC) - Wuhan
Duration: 27 Nov 201529 Nov 2015

Conference

ConferenceChinese Automation Congress (CAC)
CityWuhan
Period27/11/1529/11/15

Keywords

  • remote control
  • communication delay
  • wheeled mobile robots
  • MOBILE ROBOTS
  • TRACKING CONTROL
  • FEEDBACK LINEARIZATION

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