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Tracking Control of Wheeled Mobile Robots with Communication Delay and Data Loss

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Abstract

This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.

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Authors and Affiliations

  1. Center For Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001, China

    Tian-Yong Zhang

  2. School of Engineering, University of South Wales, Pontypridd, CF37 1DL, UK

    Guo-Ping Liu

Authors
  1. Tian-Yong Zhang
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  2. Guo-Ping Liu
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Corresponding author

Correspondence to Tian-Yong Zhang.

Additional information

This research was supported in part by the National Natural Science Foundation of China under Grant Nos. 61333033, 61690210 and 61690212.

This paper was recommended for publication by Editor SUN Jian.

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Zhang, TY., Liu, GP. Tracking Control of Wheeled Mobile Robots with Communication Delay and Data Loss. J Syst Sci Complex 31, 927–945 (2018). https://doi.org/10.1007/s11424-017-7030-7

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  • DOI: https://doi.org/10.1007/s11424-017-7030-7

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