Carbonell, RafaelCuenca, ÁngelSalt, JuliánAranda Escolástico, ErnestoCasanova, Vicente2025-10-202025-10-202024-05-27Rafael 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.2024.05.0411879-2022https://doi.org/10.1016/j.isatra.2024.05.041https://hdl.handle.net/20.500.14468/30535The 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.2024.05.041La 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.2024.05.041This 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.eninfo:eu-repo/semantics/openAccess1203.17 InformáticaartículoNetworked controlPeriodic event-triggered communicationKalman filterStochastic stabilityMecanum-wheeled robot