Abstract
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.
Original language | English |
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Pages (from-to) | 927-945 |
Number of pages | 19 |
Journal | Journal of Systems Science and Complexity |
Volume | 31 |
Issue number | 4 |
Early online date | 8 Dec 2017 |
DOIs | |
Publication status | E-pub ahead of print - 8 Dec 2017 |
Keywords
- Communication delay
- consecutive data loss
- networked predictive control
- trajectory tracking
- wheeled mobile robot