Optimal Threshold Setting for Event-Based Control Strategies

被引：4
|
作者：
Socas, Rafael [1 ]
Dormido, Sebastian [1 ]
Dormido, Raquel [1 ]
机构：
[1] Univ Nacl Educ Distancia, Dept Informat & Automat, E-28040 Madrid, Spain
来源：
IEEE ACCESS | 2017年 / 5卷
关键词：
Mobile robots; event-based control; dynamic threshold setting; navigation algorithm; perturbation estimation; NETWORKED CONTROL; TRIGGERED CONTROL; SENSOR;
D O I：
10.1109/ACCESS.2017.2671419
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an event-based control strategy for mobile robots is proposed. The solution includes new features that minimize the effects of the noise on the system. Two methodologies have been developed to compensate the perturbations. To avoid the effects of such perturbations, a threshold calculator and a perturbation estimator are included in the system. The proposed system is compared with classical control systems based on discrete time. Different scenarios are analyzed in the experiments to check its performance. The stability and the improvements of the proposed control strategy are also analyzed in the experimental results.
引用
收藏
页码：2880 / 2893
页数：14
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