TY - GEN
T1 - Nonlinear smith-predictor based control strategy for a unicycle mobile robot subject to transport delay
AU - Alvarez-Aguirre, A.
AU - Velasco-Villa, M.
AU - Del-Muro-Cuellar, B.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=61649104054&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2008.4723434
DO - 10.1109/ICEEE.2008.4723434
M3 - Contribución a la conferencia
AN - SCOPUS:61649104054
SN - 9781424424993
T3 - 2008 5th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2008
SP - 102
EP - 107
BT - 2008 5th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2008
T2 - 2008 5th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2008
Y2 - 12 November 2008 through 14 November 2008
ER -