A Gain Scheduling Strategy for the Control and Estimation of A Remote Robot via Internet

In this article, a gain scheduling strategy for the controller of a remote robot based on Internet and Bluetooth networks is designed and implemented. The Internet communication is based on the Master-Slave structure; UDP protocol. The Slave comprises a PC and a mobile robot, interconnected through the protocol Bluetooth. The Master is-a second PC which realizes the remote control, the design of which is based on a remote observer achieving a state prediction of the robot (Slave), despite the variable communication delays, sampling and packets losses. The detected variable time-delays. serve as the switching signals. The gain scheduling state feedback controller is based on Lyapunov-Krasovskii functional and the approach of LMI, which guarantee the uniform stabilization performance.