Adaptive self-triggered control for remote operation of wifi linked robots

Abstract

In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of timevarying 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.