论文标题
使用过去基于观察的倾向过滤器对网络移动机器人的稳定控制
Stabilization control of networked mobile robot using past observation-based preditive filter
论文作者
论文摘要
本文解决了受通信延迟的网络移动机器人的稳定控制问题。开发了一个新的状态估计过滤器，即过去的基于观察的预测过滤器。该过滤器可以通过延迟测量来预测系统状态。状态估计器与开发的控制法相结合确保了网络系统的渐近稳定性。进行了从实际机器人系统中提取的参数的模拟，结果证实了所提出方法的正确性以及适用性。
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.
