Effect of network induced delay on the stability of an autonomous mobile robot

摘要

Due to remote sensor, actuator and processor locations, many systems need to implement closed loop control through a communication network. Thus, they may face the problem of random delays induced by the network. These delays may deteriorate the performance and may even cause instability. In this paper, the authors deal with the stability analysis of the real-time control-based communication network of a mobile robot. Firstly, assuming that there is no delay, a control law that stabilizes the mobile robot is derived. Then, the stated problem is posed. They restrict their analysis to the case where the delay is less than the sampling period. A control law, taking into account the presence of this delay and stabilizing the mobile robot control system under the new scheme is proposed. Simulation results are given to illustrate their purpose.