Abstract
In this chapter, the tracking control problem for a unicycle-type mobile robot with network-induced delays is addressed. The time-delay affects the system due to the fact that the controller and the robot are linked via a delay-inducing communication channel, by which the performance and stability of the system are possibly compromised. In order to tackle the problem, a state estimator with a predictor-like structure is proposed. Acting in conjunction with a tracking control law, the resulting control strategy is capable of stabilizing the system and compensates for the negative effects of the time-delay. The local uniform asymptotic stability of the closed-loop system is guaranteed up to a maximum admissible time-delay, for which explicit expressions are provided in terms of the system’s control parameters. The applicability of the proposed estimator-control strategy is demonstrated by means of experiments carried out between multi-robot platforms located in Eindhoven, The Netherlands and Tokyo, Japan.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Brockett, R.: Asymptotic stability and feedback stabilization. In: Differential geometric control theory, pp. 181–191. Birkhäuser, Basel (1983)
van den Broek, T.: Formation Control of Unicycle Mobile Robots: Theory and Experiments. Master’s thesis, Eindhoven University of Technology (2008)
van den Broek, T., van de Wouw, N., Nijmeijer, H.: Formation control of unicycle mobile robots: a virtual structure approach. In: Proceedings of the combined 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC), pp. 3264–3269 (2009)
Heemels, W.P.M.H., van de Wouw, N.: Stability and stabilization of networked control systems. In: Bemporad, A., Heemels, M., Johansson, M. (eds.) Networked Control Systems. Lecture Notes in Control and Information Sciences, vol. 406, pp. 203–253. Springer, Heidelberg (2010)
Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: An historial survey. Automatica 42(12), 2035–2057 (2006)
Jakubiak, J., Lefeber, E., Tchón, K., Nijmeijer, H.: Two observer-based tracking algorithms for a unicycle mobile robot. International Journal of Applied Mathematics and Computer Science 12(4), 513–522 (2002)
Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T.: A stable tracking control method for an autonomous mobile robot. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 384–389
Kojima, K., Oguchi, T., Alvarez-Aguirre, A., Nijmeijer, H.: Predictor-based tracking control of a mobile robot with time-delays. In: Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), pp. 167–172 (2010)
Kostic, D., Adinandra, S., Caarls, J., Nijmeijer, H.: Collision-free motion coordination of unicycle multi-agent systems. In: Proceedings of the American Control Conference (ACC), pp. 3186–3191 (2010)
Kostic, D., Adinandra, S., Caarls, J., van de Wouw, N., Nijmeijer, H.: Collision-free tracking control of unicycle mobile robots. In: Proceedings of the combined 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC), pp. 5667–5672 (2009)
Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.C., Floreano, D., Martinoli, A.: The e-puck, a robot designed for education in engineering. In: Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, pp. 59–65 (2009)
Oguchi, T., Nijmeijer, H.: Control of nonlinear systems with time-delay using state prediction based on synchronization. In: Proceedings of the EUROMECH Nonlinear Dynamics Conference (ENOC), pp. 1150–1156 (2005)
Oguchi, T., Nijmeijer, H.: Prediction of chaotic behavior. IEEE Trans. on Circuits and Systems I 52(11), 2464–2472 (2005)
Oguchi, T., Nijmeijer, H.: Anticipating synchronization of nonlinear systems with uncertainties. In: Proceedings of the 6th IFAC Workschop on Time-Delay Systems (2006)
Panteley, E., Lefeber, E., LorÃa, A., Nijmeijer, H.: Exponential tracking control of a mobile car using a cascaded approach. In: Proceedings of the IFAC Workshop on Motion Control (1998)
Python. Python Programming Language (2010), http://www.python.org
reacTIVision. reacTIVision 1.4: A toolkit for tangible multi-touch surfaces (2010), http://reactivision.sourceforge.net/
Sedova, N.: Local and semiglobal stabilization in a cascade with delays. Automation and Remote Control 69(6), 968–979 (2008)
Tipsuwan, Y., Chow, M.Y.: Control methodologies in networked control systems. Control Engineering Practice 11(10), 1099–1111 (2003)
Voss, H.U.: Anticipating chaotic synchronization. Physical Review E 61(15), 5115–5119 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Alvarez-Aguirre, A., van de Wouw, N., Oguchi, T., Kojima, K., Nijmeijer, H. (2011). Remote Tracking Control of Unicycle Robots with Network-Induced Delays. In: Cetto, J.A., Ferrier, JL., Filipe, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 89. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19539-6_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-19539-6_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19538-9
Online ISBN: 978-3-642-19539-6
eBook Packages: EngineeringEngineering (R0)