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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

ISBN: 978-989-8425-01-0

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.

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Paper citation in several formats:
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

@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},
}

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

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