Control of an intelligent robot system over a wireless network

Amine Mechraoui (1) , Jean-Marc Thiriet (1) , Sylviane Gentil (1)

1 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance

This paper emphasizes the control-communication co-design problem of a mobile robot with varying network load. A Khepera mobile robot driven by two dc motor-powered wheels is used as an example. Each motor is controlled directly by a PI controller whereas other types of controllers are used for the control of linear and angular velocities of the robot. A Zigbee network is implemented between the controller and the plant and between the sensors and the controller. Difficulties due to wireless network such as delays and packet dropout are studied. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.

Keywords: Unicycle robot.; 802.15.4; Unicycle robot; Network Control Systems; Wireless Network; Co-design problem; TrueTime simulation

Domains: Automatic Control Engineering

Amine Mechraoui, Jean-Marc Thiriet, Sylviane Gentil. Control of an intelligent robot system over a wireless network. IAR 2008 - 23rd IAR Workshop on Advanced Control and Diagnosis, Nov 2008, Coventry, United Kingdom. pp.201. ⟨hal-00343384⟩