Feedback preprocessed unmanned ground vehicle network-based controller characterization

  title={Feedback preprocessed unmanned ground vehicle network-based controller characterization},
  author={Rangsarit Vanijjirattikhan and M.-Y. Chow and Yodyium Tipsuwan},
  journal={30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004},
  pages={2333-2338 Vol. 3}
This paper characterizes the performance of a feedback preprocessor (FP) that is used to alleviate the effect of the delay time on an unmanned ground vehicle (UGV) path tracking problem in network-based control (NBC) environment. The FP estimates the UGV state in order to compensate for the effect of a constant time delay induced by the network. The FP technique can be implemented as an external module appending to an existing nonlinear control system without having to redesign the controller… CONTINUE READING


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