ABSTRACT

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 timedelays 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.

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