| With the development of network technology and robotics, remote control technology of robot based on network has become a new branch in the area of robotics. Analysis, modeling and controller design for a mobile robot based on network are studied in this thesis.Firstly, while have no network environment, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the global asymptotically stable controller based on Lyapunov theory is designed.The effectiveness of the proposed controller is shown through the simulation of two-wheel driven mobile robot tracking line and ellipse trajectory under the proposed controller.Secondly, after network is applied, the characteristic of different kinds of network delay is analyzed. The network delay model of mobile robot is analyzed which delay exists between controller and actuator, based on the analysis of modeling and stability for the NCS with network-induced delay . Through simulation in network delay circumstance with the the global asymptotically stable controller based on Lyapunov theory, the effect of network-induced delay on the mobile robot control system is analyzed. It indicates that we must adopt valid control strategy to compensate the network delay in order to ensure the system performance and stability.Finally, the compensator is designed for NCS with the induced delay. To the constant delay, the algorithm of the optimal control as the forwardfeed compensation combined with predictive control is presented. To the uncertain delay, the generalized predictive control (GPC) algorithm based on BP neural network error correction is presented, meanwhile, this algorithm overcome the influence of uncertainty of a system and modeling error caused by the general GPC algorithm. Through the simulation of trajectory tracking control on a WMR, the results show the effectiveness of the controller design methods for the WMR control system in the network environment. |
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