DocumentCode
2082608
Title
Stability of real time control of an autonomous mobile robot
Author
Wargui, M. ; Tadjine, M. ; Rachid, A.
Author_Institution
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, France
fYear
1996
fDate
11-14 Nov 1996
Firstpage
311
Lastpage
316
Abstract
In this paper we deal with the stability analysis of the real time control of mobile robots. Of particular importance, the problem of induced random delays caused by the communication network is highlighted. Sufficient conditions are then derived to ensure the closed loop stability of the mobile robot control system
Keywords
closed loop systems; delays; distributed parameter systems; mobile robots; real-time systems; robot kinematics; stability; autonomous mobile robot; closed loop stability; communication network; distributed systems; induced random delays; kinematics; real time control; sufficient conditions; time varying delays; Actuators; Communication system control; Control systems; Delay effects; Kinematics; Mobile communication; Mobile robots; Sensor systems; Stability; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Communication, 1996., 5th IEEE International Workshop on
Conference_Location
Tsukuba
Print_ISBN
0-7803-3253-9
Type
conf
DOI
10.1109/ROMAN.1996.568855
Filename
568855
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