Discrete-Time Control of an Omnidireccional Mobile Robot Subject to Transport Delay

This paper deals with the discrete time control of an omnidirectional mobile robot subject to transport delays. A discrete-time model of the vehicle is obtained by considering an exact discretization of the continuous time model of the robot where the time delay induced by the communication network is previously considered. Instead of the original continuous-time delay system, a discrete-time model free of delay for which the consideration of a classical control strategy is possible. It is shown that the stability of the system is assured under the proposed strategy.