Adaptive Self-triggered Control of a Remotely Operated Robot

  • Carlos Santos
  • Manuel MazoJr.
  • Felipe Espinosa
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)


We consider the problem of remotely operating an autonomous robot through a wireless communication channel. Our goal is to achieve a satisfactory tracking performance while reducing network usage. To attain this objective we implement a self-triggered strategy that adjusts the triggering condition to the observed tracking error. After the theoretical justification we present experimental results from the application of this adaptive self-triggered approach on a P3-DX mobile robot remotely controlled. The experiments show a relevant reduction on the generated network traffic compared to a periodic implementation and to a non-adaptive self-triggered approach, while the tracking performance is barely degraded.




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© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Carlos Santos
    • 1
  • Manuel MazoJr.
    • 2
    • 3
  • Felipe Espinosa
    • 1
  1. 1.Electronics Department, Polytechnic SchoolUniversity of AlcalaSpain
  2. 2.INCAS3AssenThe Netherlands
  3. 3.Faculty of Mathematics and Natural SciencesUniversity of GroningenThe Netherlands

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