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

Tian-Yong Zhang; G-P Liu

doi:10.1007/s11424-017-7030-7

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

Tian-Yong Zhang, G-P Liu

Faculty of Computing, Engineering and Science

Research output: Contribution to journal › Article › peer-review

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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 language	English
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	https://doi.org/10.1007/s11424-017-7030-7
Publication status	E-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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ZhangTY-jsscAccepted author manuscript, 1.89 MBLicence: CC BY-NC-ND

Cite this

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title = "Tracking control of wheeled mobile robots with communication delay and data loss",

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.",

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AB - 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.

KW - Communication delay

KW - consecutive data loss

KW - networked predictive control

KW - trajectory tracking

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

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Keywords

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