A passivity based system design for non-holonomic mobile robot in presence of delay and traffic disturbances

A desirable property of a Real Time Cyber-Physical System is the robustness towards communication delays and disturbances on its behaviour. This paper utilises the fact that a passive system is always Bounded Input Bounded Output(BIBO) stable. The aim of this paper is to design a system, so as to control a mobile robot, such that the entire system is ensured to be passive. A passive dynamic model of the mobile robot is utilised, and a passive sliding mode controller is designed, which makes the system stable in the presence of traffic disturbances. Furthermore, the concept of wave variable is used for stable bidirectional teleoperation of the mobile robot over a wireless communication channel to compensate the effect of fixed time delays. Through simulation results, we compare the results of passive closed loop system and non-passive closed loop system, from which we conclude that in the presence of delay and disturbances, the former is superior.