  This paper addresses the stabilization control problem for networked mobile
robot subject to communication delay. A new state estimation filter namely past
observation-based predictive filter is developed. This filter enables the
prediction of system state from delayed measurement. The state estimator
combined with developed control laws ensures the asymptotic stability of the
networked system. Simulations with parameters extracted from a real robot
system were conducted and results confirmed the correctness as well as
applicability of proposed approach.
