Nonlinear Smith-predictor based control strategy for a unicycle mobile robot subject to transport delay
- Resource Type
- Conference
- Authors
- Alvarez-Aguirre, A.; Velasco-Villa, M.; del-Muro-Cuellar, B.
- Source
- 2008 5th International Conference on Electrical Engineering, Computing Science and Automatic Control Electrical Engineering, Computing Science and Automatic Control, 2008. CCE 2008. 5th International Conference on. :102-107 Nov, 2008
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Power, Energy and Industry Applications
Robotics and Control Systems
Mobile robots
Communication system control
Delay effects
Control systems
Communication networks
Robot control
Feedback
Automatic control
Closed loop systems
Sampling methods
- Language
This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the proposed solution is carried out by considering an extension to the nonlinear case of the well known Smith predictor compensator that allows the implementation of the noncausal feedback. The performance of the tracking strategy is evaluated by means of numerical simulations.