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Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots

  • Conference paper
ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

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Abstract

In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of time-varying network delays, a novel self-triggered strategy has been designed to adjust the triggering condition to the observed tracking error. This adaptive self-triggered approach has been implemented on the trajectory tracking of two P3-DX mobile robots remotely controlled through the widespread WLAN IEEE 802.11g standard. Taking into account the maximum channel delay, results show that this solution achieves a good tracking performance with a high reduction of the network occupancy.

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Correspondence to Carlos Santos .

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Santos, C., Mazo, M., Santiso, E., Espinosa, F., Martínez, M. (2014). Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_39

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_39

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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