Toward Model Matching for Remotely Controlled Differential Drive Robotic Vehicles
Fuente:
arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866908579645095936 |
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| author | Kouvakas, Nikolaos D. Koumboulis, Fotis N. Tzierakis, Konstantinos G. Sigalas, John Dimakakos, Anastasios |
| author_facet | Kouvakas, Nikolaos D. Koumboulis, Fotis N. Tzierakis, Konstantinos G. Sigalas, John Dimakakos, Anastasios |
| contents | The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples linear and angular velocities and regulates heading, a third, delay-dependent layer that achieves exact model matching from the orientation angle command to the orientation angle is introduced. The proposed outer loop controller is a delay dependent dynamic measurable output-feedback controller with dynamic proper precompensator. Parameterization yields a simple characteristic quasi-polynomial with coefficients constrained to satisfy stability for all delays up to a computable bound. Computational experiments confirm accurate tracking, fast settling and bounded internal signals and control voltages. The approach offers an analytic design alternative to AI-based tuning for delayed robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_06081 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Toward Model Matching for Remotely Controlled Differential Drive Robotic Vehicles Kouvakas, Nikolaos D. Koumboulis, Fotis N. Tzierakis, Konstantinos G. Sigalas, John Dimakakos, Anastasios Systems and Control The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples linear and angular velocities and regulates heading, a third, delay-dependent layer that achieves exact model matching from the orientation angle command to the orientation angle is introduced. The proposed outer loop controller is a delay dependent dynamic measurable output-feedback controller with dynamic proper precompensator. Parameterization yields a simple characteristic quasi-polynomial with coefficients constrained to satisfy stability for all delays up to a computable bound. Computational experiments confirm accurate tracking, fast settling and bounded internal signals and control voltages. The approach offers an analytic design alternative to AI-based tuning for delayed robotic systems. |
| title | Toward Model Matching for Remotely Controlled Differential Drive Robotic Vehicles |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.06081 |