Skip to Main content Skip to Navigation
Conference papers

A gain scheduling strategy for the control and estimation of a remote robot via Internet

Wenjuan Jiang 1 Alexandre Kruszewski 1 Jean-Pierre Richard 2, 3 Armand Toguyeni 1 
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Centrale Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : A gain scheduling strategy for the controller of a remote robot based on Internet and Bluetooth networks is designed and implemented. The Internet communication is based on the Master-Slave structure, UDP protocol. The Slave comprises a PC and a mobile robot, interconnected through the protocol Bluetooth. The Master is a second PC which realizes the remote control, the design of which is based on a remote observer achieving a state prediction of the robot (Slave), despite the variable communication delays, sampling and packets losses. The detected variable time delays serve as the switching signals. The gain scheduling state feedback controller is based on Lyapunov-Krasovskii functional and the approach of LMI, which guarantee the uniform stabilization performance.
Complete list of metadata

Cited literature [12 references]  Display  Hide  Download
Contributor : Jean-Pierre Richard Connect in order to contact the contributor
Submitted on : Saturday, March 22, 2008 - 5:47:05 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:21 PM
Long-term archiving on: : Friday, September 28, 2012 - 11:40:38 AM


Files produced by the author(s)



Wenjuan Jiang, Alexandre Kruszewski, Jean-Pierre Richard, Armand Toguyeni. A gain scheduling strategy for the control and estimation of a remote robot via Internet. CCC'08 - 27th Chinese Control Conference, Jul 2008, Kunming, Yunnan, China. ⟨10.1109/CHICC.2008.4605866⟩. ⟨inria-00266451⟩



Record views


Files downloads