On Network-based Control and Sensitivity Characterization of Mobile Robot in Intelligent Space

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dc.contributor.advisor Dr. James J. Brickley, Jr., Committee Member en_US
dc.contributor.advisor Dr. Griff L. Bilbro, Committee Member en_US
dc.contributor.advisor Dr. Fen Wu, Committee Member en_US
dc.contributor.advisor Dr. Mo-Yuen Chow, Committee Chair en_US
dc.contributor.author Vanijjirattikhan, Rangsarit en_US
dc.date.accessioned 2010-04-02T19:00:01Z
dc.date.available 2010-04-02T19:00:01Z
dc.date.issued 2008-04-03 en_US
dc.identifier.other etd-03252008-230435 en_US
dc.identifier.uri http://www.lib.ncsu.edu/resolver/1840.16/4727
dc.description.abstract This dissertation addresses the problem of path-tracking control of a mobile robot, also called an Unmanned Ground Vehicle (UGV), in Intelligent Space, where the controller is located on an entity different from the robot and communicates with the robot over a communication network. The involvement of a communication network leads us to the core of this research, the network time-delay factor. The existence of a network delay presents a challenging problem that might degrade the overall system performance and even destabilize the closed-loop control system. The existing research area for the aforementioned scenario is called Network-based control system (NBC) mostly focused on a general linear system for which the controller must be redesigned so that the overall NBC system can work properly. Distinct from the existing research, and innovative in its own right, the research presented in this dissertation focuses on a specific nonlinear system, the remote UGV path-tracking. More specifically, we focus on the methods that allow the existing workable path-tracking controller to be reused in the NBC environment. In this work, Accumulated effect parameter tuning method is firstly proposed to tune the geometrical path-tracking controller used in UGV before operating over communication network; then sensitivity analysis is introduced to consider how the system is sensitive to noise or perturbation so that the operating condition, such as UGV speed and path curvature, may be changed to limit the effect from noise or perturbation; afterwards, Feedback preprocessor (FP) is proposed to alleviate the effect of network delay by using UGV position estimation through UGV kinematics model; along with FP, UGV response time is proposed to demonstrate the effect of different UGV characteristics on path-tracking performance; finally, the effect of using Gain scheduler (GS) with two-dimensional and one-dimensional gain table is investigated for the capability to alleviate the network delay on remote UGV path-tracking. en_US
dc.rights I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dis sertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. en_US
dc.subject networked control system en_US
dc.subject network-based control system en_US
dc.subject distributed control en_US
dc.subject delay compensation en_US
dc.subject telerobotics en_US
dc.subject communication network en_US
dc.subject control system en_US
dc.subject path-tracking en_US
dc.subject mobile robot en_US
dc.subject unmanned ground vehicle en_US
dc.subject sensitivity analysis en_US
dc.title On Network-based Control and Sensitivity Characterization of Mobile Robot in Intelligent Space en_US
dc.degree.name PhD en_US
dc.degree.level dissertation en_US
dc.degree.discipline Electrical Engineering en_US

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