Remote control of an omnidirectional mobile robot with time-varying delay and noise attenuation

• Published in: Mechatronics (Oxford) Vol. 52; pp. 7 - 21
• Main Authors: Santos, Jessivaldo, Conceição, André, Santos, Tito, Araújo, Humberto
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.06.2018
• Subjects: Dead-time compensators; Mobile robot; Noise attenuation; Smith predictor; Time-Varying delay; Dead-time compensators; Smith predictor; Noise attenuation; Mobile robot; Time-Varying delay
• ISSN: 0957-4158; 1873-4006
• DOI: 10.1016/j.mechatronics.2018.04.003

This paper proposes a dead-time compensation control based on the filtered Smith predictor with an integral Linear Quadratic Regulator to remotely control an omnidirectional mobile robot subject to time-varying delay, sampling jitter and measurement noise. The filtered Smith predictor is used to preserve implementation simplicity, attenuate measurement noise and mitigate the performance degradation caused by the time-varying delay and sampling jitter. Implementation simplicity is achieved since the trade-off between robustness and closed-loop performance is handled from experimental tuning approach. Theoretical analysis is provided to show the benefits of the proposed compensation strategy. A set of experimental results with and without network-induced time-varying delay corroborate this analysis. Moreover, the relationship between measurement noise and the undesired time-varying delay effect is theoretically established to emphasize the benefits of the proposed approach. Practical results are presented in order to show that the proposed LQR/filtered Smith predictor strategy can be used in a NCS configuration providing good results with respect to trajectory tracking purposes despite its implementation simplicity.