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 language | English |
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Title of host publication | 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 84-89 |
Number of pages | 6 |
Publication status | Published - 2016 |
Event | IEEE International Conference on Mechatronics and Automation - Harbin Duration: 7 Aug 2016 → 10 Aug 2016 |
Conference
Conference | IEEE International Conference on Mechatronics and Automation |
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City | Harbin |
Period | 7/08/16 → 10/08/16 |
Keywords
- Networked predictive control
- nonholonomic mobile robot
- remote tracking
- communication delay
- SYSTEMS