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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...
This paper deals with the discrete time control of an omnidirectional mobile robot subject to transport delays. A discrete-time model of the vehicle is obtained by considering an exact discretization of the continuous time model of the robot where the time delay induced by a communication network is considered. The path-tracking problem is addressed by means of a prediction strategy based on the well...
In this work, it is presented a discrete time control strategy for the solution of the path-tracking problem for a wheeled mobile robot of the type (2,0). It is assumed that the mobile robot is remotely controlled over a communication network that induces a transport delay. The exact discrete-time model of the mobile robot including the induced delay is developed. It is presented a discrete-time strategy...
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