DocumentCode :
2488975
Title :
Effect of network induced delay on the stability of an autonomous mobile robot
Author :
Wargui, M. ; Hentabli, K. ; Tadjine, M. ; Rachid, A.
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie, Amiens, France
Volume :
3
fYear :
1997
fDate :
9-14 Nov 1997
Firstpage :
1187
Abstract :
Due to remote sensor, actuator and processor locations, many systems need to implement closed loop control through a communication network. Thus, they may face the problem of random delays induced by the network. These delays may deteriorate the performance and may even cause instability. In this paper, the authors deal with the stability analysis of the real-time control-based communication network of a mobile robot. Firstly, assuming that there is no delay, a control law that stabilizes the mobile robot is derived. Then, the stated problem is posed. They restrict their analysis to the case where the delay is less than the sampling period. A control law, taking into account the presence of this delay and stabilizing the mobile robot control system under the new scheme is proposed. Simulation results are given to illustrate their purpose
Keywords :
control system analysis; control system synthesis; delays; mobile robots; real-time systems; stability; telerobotics; autonomous mobile robot stability; closed loop control; communication network; control design; control law; control simulation; network induced delay; random delays; real time control; remote actuators; remote processors; remote sensors; sampling period; stability analysis; Actuators; Communication networks; Communication system control; Control systems; Delay effects; Mobile robots; Remote sensing; Robot control; Sampling methods; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
Type :
conf
DOI :
10.1109/IECON.1997.668458
Filename :
668458
Link To Document :
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