Tracking control of wheeled mobile robots with communication delay and data loss

Tian-Yong Zhang, G-P Liu

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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 languageEnglish
Pages (from-to)927-945
Number of pages19
JournalJournal of Systems Science and Complexity
Volume31
Issue number4
Early online date8 Dec 2017
DOIs
Publication statusE-pub ahead of print - 8 Dec 2017

Keywords

  • Communication delay
  • consecutive data loss
  • networked predictive control
  • trajectory tracking
  • wheeled mobile robot

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