A Gain Scheduling Strategy for the Control and Estimation of A Remote Robot via Internet

被引：5

作者：

Jiang Wenjuan ^{[1
]}

Alexandre, Kruszewski ^{[1
]}

Jean-Pierre, Richard ^{[1
]}

Armand, Toguyeni ^{[1
]}

机构：

[1] Ecole Cent Lille, CNRS, LAGIS, UMR 8146, F-59651 Villeneuve Dascq, France

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 4 | 2008年

关键词：

Remote control; Switching signal; Exponential stability; Linear time-delay system; LMIs; Internet; UDP; Robot;

D O I：

10.1109/CHICC.2008.4605866

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a gain scheduling strategy for the controller of a remote robot based on Internet and Bluetooth networks is designed and implemented. The Internet communication is based on the Master-Slave structure; UDP protocol. The Slave comprises a PC and a mobile robot, interconnected through the protocol Bluetooth. The Master is-a second PC which realizes the remote control, the design of which is based on a remote observer achieving a state prediction of the robot (Slave), despite the variable communication delays, sampling and packets losses. The detected variable time-delays. serve as the switching signals. The gain scheduling state feedback controller is based on Lyapunov-Krasovskii functional and the approach of LMI, which guarantee the uniform stabilization performance.

引用

页码：793 / 799

页数：7

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