Remote tracking of nonholonomic mobile robots via networked predictive control

Abstract

This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.