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

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dc.contributor.authorCarbonell, Rafael
dc.contributor.authorCuenca, Ángel
dc.contributor.authorSalt, Julián
dc.contributor.authorAranda Escolástico, Ernesto
dc.contributor.authorCasanova, Vicente
dc.contributor.funderMinisterio de Ciencia e Innovación
dc.contributor.funderFondo Social Europeo
dc.contributor.funderAgencia Estatal de Investigación
dc.contributor.funderUNED
dc.date.accessioned2025-10-20T15:11:59Z
dc.date.available2025-10-20T15:11:59Z
dc.date.issued2024-05-27
dc.descriptionThe registered version of this article, first published in “ISA Transactions, Volume 151, 2024, Pages 377-390", is available online at the publisher's website: Elsevier, https://doi.org/10.1016/j.isatra.2024.05.041 en
dc.descriptionLa versión registrada de este artículo, publicado por primera vez en “ISA Transactions, Volume 151, 2024, Pages 377-390", está disponible en línea en el sitio web del editor: Elsevier, https://doi.org/10.1016/j.isatra.2024.05.041
dc.description.abstractThis 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.en
dc.description.provenanceMade available in DSpace on 2025-10-20T15:11:59Z (GMT). No. of bitstreams: 1 ArandaEscolastico_Ernesto_Remote_pathfollowin_ERNESTO ARANDA ESCOL.pdf: 3811116 bytes, checksum: f99132de830a20cdbedc7d5fe3a8aa53 (MD5) Previous issue date: 2024-05-27en
dc.description.sponsorshipEste trabajo fue financiado por la subvención PRE2019-088467 financiada por MCIN/AEI/10.13039/501100011033 y por “ESF Invirtiendo en tu futuro”, y por la Agencia Estatal de Investigación bajo el Proyecto PID2020-112658RB-I00/AEI/10.13039/501100011033 y por la UNED bajo el Proyecto 2021V/-TAJOV/001
dc.description.versionversión publicada
dc.identifier.citationRafael Carbonell, Ángel Cuenca, Julián Salt, Ernesto Aranda-Escolástico, Vicente Casanova, Remote path-following control for a holonomic Mecanum-wheeled robot in a resource-efficient networked control system, ISA Transactions, Volume 151, 2024, Pages 377-390, https://doi.org/10.1016/j.isatra.2024.05.041
dc.identifier.doihttps://doi.org/10.1016/j.isatra.2024.05.041
dc.identifier.issn1879-2022
dc.identifier.urihttps://hdl.handle.net/20.500.14468/30535
dc.journal.titleISA Transactions: The Journal of Automation
dc.journal.volume151
dc.language.isoen
dc.page.final390
dc.page.initial377
dc.publisherElsevier
dc.relation.centerE.T.S. de Ingeniería Informática
dc.relation.departmentIngeniería de Software y Sistemas Informáticos
dc.relation.projectidinfo:eu-repo/grantAgreement/MCIN/AEI/10.13039/501100011033//PRE2019-088467
dc.relation.projectidinfo:eu-repo/grantAgreement/AEI/10.13039/501100011033// PID2020-112658RB-I00/AEI/10.13039/501100011033
dc.relation.projectidinfo:eu-repo/grantAgreement/UNED//2021V/-TAJOV/001
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.es
dc.subject1203.17 Informática
dc.subject.keywordsNetworked controlen
dc.subject.keywordsPeriodic event-triggered communicationen
dc.subject.keywordsKalman filteren
dc.subject.keywordsStochastic stabilityen
dc.subject.keywordsMecanum-wheeled roboten
dc.titleRemote path-following control for a holonomic Mecanum-wheeled robot in a resource-efficient networked control systemen
dc.typeartículoes
dc.typejournal articleen
dspace.entity.typePublication
relation.isAuthorOfPublication19c0c538-4e7e-4de5-afd9-6ff1a8bbf88e
relation.isAuthorOfPublication.latestForDiscovery19c0c538-4e7e-4de5-afd9-6ff1a8bbf88e
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