Authors:
A. Alvarez-Aguirre
1
;
H. Nijmeijer
1
;
T. Oguchi
2
and
K. Kojima
2
Affiliations:
1
Eindhoven University of Technology, Netherlands
;
2
Tokyo Metropolitan University, Japan
Keyword(s):
Mobile robotics, Remote control, Time-delay systems, Controlled synchronization, Nonlinear predictor.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Telerobotics and Teleoperation
;
Web-Based Control
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.