Research On Critical Techniques In Networked Control For Mobile Robot

With the development of Internet, the subjects combined with Internet became a new trend. Networked control system of the mobile robot is a new study field that integrates computer, communication and control technology. That time delay makes a negative effect on stability of networked control system must be reduced when building networked control system. In the networked control system of mobile robot, the relation of time delay, sampling period of robot and control is studied to increase the stability.In this article, the structure of mobile robot as an controlled object of networked control system is introduced and mathematic model of the mobile robot is given. Some reasons that cause time delay are analyzed. By the characteristic of Internet, the solution based on the HTTP protocol is designed to detect and penetrate through Fire Wall. Based on the mathematic model of the mobile robot, the transfer function and the state equation of the networked control system are given. The stability performances of the relation between sampling period and delay are also proposed by simulation results. Output feedback controllers are designed regarding the presence of the network in the feedback loop, so many controller design techniques may be employed. To provide information of video for teleoperation, the video is sampled by VFW(Video for Windows SDK) provided by Windows2000. The video is transmitted through Socket. Based on the relation of time delay, the stability of system and control mode, the networked control system of mobile robot with video and three control modes are built.Networked control system of mobile robot not only provides some experience on teleoperation for designment and development, but also provides a platform for robot amateurs to be familiar with robot, learn some knowledge about robot and know the development situation of robot's teleoperation. Besides amateurs will have chance to control the robot on web by themselves.