Predictor-based Tracking Control of A Mobile Robot with Time-delays

In this paper, we consider the tracking control problem for a two-wheel mobile robot which has a feedback loop that passes through a computer network. The use of a computer network in the feedback loop causes several problems, but we focus particularly on the effect of time-delays caused by the data transmission. To compensate the performance degradation due to the delays, we propose a tracking control scheme with a state predictor based on anticipating synchronization. A sufficient condition for the convergence of the prediction error is also derived by the Lyapunov-Razumikhin approach. Numerical simulation results show that the proposed control scheme is effective for driftless non-holonomic systems such as the mobile robot.