This paper deals with the analysis of real time systems subject to the time delay in the communication networks. Different approaches to handle the effect of communication delays are discussed. To improve the robustness of the control system, a fuzzy controller is used. The use of the fuzzy technique is motivated by the fact that time delays give rise to phase lag, which often degenerate system stability and performances The case of the Controller Area Network bus is particularly discussed.

In this paper, a discrete time model is derived for an autonomous mobile robot subject to network induced delay. it is shown that the model is non linear and variable structure depending on the network delay.

We deal with the stability analysis of a mobile robot subject to network induced delay. First, we propose a discrete-time stabilizing controller in the delay-free case. Thereafter, the problem of induced random delay caused by the communication network is highlighted. Finally a predictor mechanism is developed to build a control law that stabilizes the mobile robot control system

Most existing studies dealing with the scheduling of real-time control systems had neglected time variation in the perception, decision and actions loops of the controlled system, especially when this system is distributed over a broadcast network. In this paper, a distributed mobile robot architecture which takes into account the previous problem is proposed. To this end, a scheduling algorithm which allows one to determine accurately the message interarrival time at each node is developed. An application on a multiplexed field bus, named the controller area network (CAN), is also discussed

A mobile robot hardware architecture generally consists of a number of sensors and actuators connected to a central processing unit. This type of architecture is time consuming and leads to an unreliable system. The purpose of this paper is to present a decentralized architecture made possible by recent advances in electronics. This architecture is based on the controller area network (CAN) bus and is shown to be very suitable and advantageous in mobile robotics

In this paper we deal with the stability analysis of the real time control of mobile robots. Of particular importance, the problem of induced random delays caused by the communication network is highlighted. Sufficient conditions are then derived to ensure the closed loop stability of the mobile robot control system