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
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;
Conference_Titel :
Robot and Human Communication, 1996., 5th IEEE International Workshop on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-3253-9
DOI :
10.1109/ROMAN.1996.568855
