Mobile Agent Gain Scheduler Control in Inter-Continental Intelligent Space

Intelligent Space (iSpace) is a space (room, corridor, or street), which has distributed sensory and mobile agents, that is capable to provide intelligent services. In this paper, experimental setup between Hashimoto Lab, University of Tokyo, Japan and Advanced Diagnosis Automation and Control (ADAC) Lab, North Carolina State University, USA is prepared to form an Inter-Continental Intelligent Space. A mobile robot at Hashimoto Lab is controlled by a path-tracking controller at ADAC Lab to track a predefined path with the tracking performance affected by the network time delay. Gain Scheduler Middleware is employed in the control loop to alleviate the effect of time delay. The experimental results of the mobile robot path-tracking has demonstrated the effectiveness of using Gain Scheduler Middleware to compensate the time-delay effect on teleoperation over IP network.