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Sensors 2017, 17(9), 2034; https://doi.org/10.3390/s17092034

Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case

Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain
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Received: 31 July 2017 / Revised: 24 August 2017 / Accepted: 4 September 2017 / Published: 6 September 2017
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Abstract

This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor. View Full-Text
Keywords: event-based state estimation; covariance-based triggering; event-based Lyapunov control; practical stability; robotic remote guidance; nonlinear trajectory tracking event-based state estimation; covariance-based triggering; event-based Lyapunov control; practical stability; robotic remote guidance; nonlinear trajectory tracking
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Santos, C.; Martínez-Rey, M.; Espinosa, F.; Gardel, A.; Santiso, E. Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case. Sensors 2017, 17, 2034.

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