REMOTE CONTROL OF A MOBILE ROBOT SUBJECT TO A COMMUNICATION DELAY

A. Alvarez-Aguirre, H. Nijmeijer, T. Oguchi, K. Kojima

Abstract

This paper addresses the remote tracking control of a mobile robot subject to a bilateral time-delay. The delay affects the system since the controller and the robot are linked via a delay inducing communication channel, such as the Internet, and consequently, the performance and stability of the system are compromised. Based on the notion of anticipating synchronization, a state estimator which stabilizes the system when it is affected by a bilateral time-delay is proposed. A stability analysis including the system, tracking controller and estimator is provided, and the applicability of the proposed delay compensation strategy is demonstrated by means of experiments between multi-robot platforms located in Eindhoven, The Netherlands and Tokyo, Japan.

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Paper Citation


in Harvard Style

Alvarez-Aguirre A., Nijmeijer H., Oguchi T. and Kojima K. (2010). REMOTE CONTROL OF A MOBILE ROBOT SUBJECT TO A COMMUNICATION DELAY . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 55-62. DOI: 10.5220/0002943700550062


in Bibtex Style

@conference{icinco10,
author={A. Alvarez-Aguirre and H. Nijmeijer and T. Oguchi and K. Kojima},
title={REMOTE CONTROL OF A MOBILE ROBOT SUBJECT TO A COMMUNICATION DELAY},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={55-62},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002943700550062},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REMOTE CONTROL OF A MOBILE ROBOT SUBJECT TO A COMMUNICATION DELAY
SN - 978-989-8425-01-0
AU - Alvarez-Aguirre A.
AU - Nijmeijer H.
AU - Oguchi T.
AU - Kojima K.
PY - 2010
SP - 55
EP - 62
DO - 10.5220/0002943700550062