Toward Model Matching for Remotely Controlled Differential Drive Robotic Vehicles
Abstract
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples linear and angular velocities and regulates heading, a third, delay-dependent layer that achieves exact model matching from the orientation angle command to the orientation angle is introduced. The proposed outer loop controller is a delay dependent dynamic measurable output-feedback controller with dynamic proper precompensator. Parameterization yields a simple characteristic quasi-polynomial with coefficients constrained to satisfy stability for all delays up to a computable bound. Computational experiments confirm accurate tracking, fast settling and bounded internal signals and control voltages. The approach offers an analytic design alternative to AI-based tuning for delayed robotic systems.
Cite
@article{arxiv.2510.06081,
title = {Toward Model Matching for Remotely Controlled Differential Drive Robotic Vehicles},
author = {Nikolaos D. Kouvakas and Fotis N. Koumboulis and Konstantinos G. Tzierakis and John Sigalas and Anastasios Dimakakos},
journal= {arXiv preprint arXiv:2510.06081},
year = {2025}
}