Title :
On the stability of an autonomous mobile robot subject to network induced delay
Author :
Wargui, M. ; Tayebi, A. ; Tadjine, M. ; Rachid, A.
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie, Jules Verne, France
Abstract :
We deal with the stability analysis of a mobile robot subject to network induced delay. First, we propose a discrete-time stabilizing controller in the delay-free case. Thereafter, the problem of induced random delay caused by the communication network is highlighted. Finally a predictor mechanism is developed to build a control law that stabilizes the mobile robot control system
Keywords :
actuators; compensation; control system synthesis; delays; discrete time systems; mobile robots; sensors; stability; state feedback; autonomous mobile robot; discrete-time stabilizing controller; induced random delay; network induced delay; predictor mechanism; stability analysis; Communication networks; Communication system control; Control systems; Delay effects; Feedback control; Mobile communication; Mobile robots; Sampling methods; Stability; Wheels;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627458
