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

Abstract

In this article, 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.