Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots

  • Carlos Santos
  • Manuel Mazo
  • Enrique Santiso
  • Felipe Espinosa
  • Miguel Martínez
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 253)


In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of time-varying network delays, a novel self-triggered strategy has been designed to adjust the triggering condition to the observed tracking error. This adaptive self-triggered approach has been implemented on the trajectory tracking of two P3-DX mobile robots remotely controlled through the widespread WLAN IEEE 802.11g standard. Taking into account the maximum channel delay, results show that this solution achieves a good tracking performance with a high reduction of the network occupancy.


Adaptive self-triggered control Network control systems Variable network delays Tele-robotics Wifi Network (IEEE 802.11g) 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Carlos Santos
    • 1
  • Manuel Mazo
    • 1
  • Enrique Santiso
    • 1
  • Felipe Espinosa
    • 1
  • Miguel Martínez
    • 1
  1. 1.Electronics DepartmentUniversity of AlcalaAlcalá de HenaresSpain

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