Remote tracking of nonholonomic mobile robots via networked predictive control

Tian-Yong Zhang*, G-P Liu

*Corresponding author for this work

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

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.

Original languageEnglish
Title of host publication2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION
PublisherInstitute of Electrical and Electronics Engineers
Pages84-89
Number of pages6
Publication statusPublished - 2016
EventIEEE International Conference on Mechatronics and Automation - Harbin
Duration: 7 Aug 201610 Aug 2016

Conference

ConferenceIEEE International Conference on Mechatronics and Automation
CityHarbin
Period7/08/1610/08/16

Keywords

  • Networked predictive control
  • nonholonomic mobile robot
  • remote tracking
  • communication delay
  • SYSTEMS

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