Remote path-following control for a holonomic Mecanum-wheeled robot in a resource-efficient networked control system

• Published in: ISA transactions 2024-08, Vol.151, p.377-390
• Main Authors: Carbonell, Rafael, Cuenca, Ángel, Salt, Julián, Aranda-Escolástico, Ernesto, Casanova, Vicente
• Format: Article
• Language: English
• Subjects: Kalman filter; Mecanum-wheeled robot; Networked control; Periodic event-triggered communication; Stochastic stability
• ISSN: 0019-0578; 1879-2022; 1879-2022
• DOI: 10.1016/j.isatra.2024.05.041

This paper introduces a novel resource-efficient control structure for remote path-following control of autonomous vehicles based on a comprehensive combination of Kalman filtering, non-uniform dual-rate sampling, periodic event-triggered communication, and prediction-based and packet-based control techniques. An essential component of the control solution is a non-uniform dual-rate extended Kalman filter (NUDREKF), which includes an h-step ahead prediction stage. The prediction error of the NUDREKF is ensured to be exponentially mean-square bounded. The algorithmic implementation of the filter is straightforward and triggered by periodic event conditions. The main goal of the approach is to achieve efficient usage of resources in a wireless networked control system (WNCS), while maintaining satisfactory path-following behavior for the vehicle (a holonomic Mecanum-wheeled robot). The proposal is additionally capable of coping with typical drawbacks of WNCS such as time-varying delays, and packet dropouts and disorder. A Simscape Multibody simulation application reveals reductions of up to 93% in resource usage compared to a nominal time-triggered control solution. The simulation results are experimentally validated in the holonomic Mecanum-wheeled robotic platform. •A novel, comprehensive periodic event-triggered networked control solution is proposed.•High reduction of resource usage (of up to 93%) can be reached while maintaining acceptable control performance.•A non-uniform dual-rate extended Kalman filter (NUDREKF) is essential in the control structure.•Some conditions are provided such that the prediction error of the NUDREKF is exponentially mean square bounded.•Real path-following control tests for a holonomic Mecanum-wheeled robot validate the control solution.