Stabilization control of networked mobile robot using past observation-based preditive filter
This work addresses stabilization for networked mobile robots with delays, but it appears incremental as it builds on existing state estimation and control methods.
The paper tackled the stabilization control problem for networked mobile robots with communication delays by developing a past observation-based predictive filter to predict system states from delayed measurements, combined with control laws to ensure asymptotic stability, with simulations using real robot parameters confirming correctness and applicability.
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach.