Abstract
In this paper, we propose a sampled-data model predictive tracking control deign for leader-following control of multi-mobile robot system. The error dynamics of leader-following robots is modeled as a Linear Parameter Varying (LPV) model. Also, the Lyapunov function is presented to guarantee stability of the networked control system. Based on the stabilization condition using a quadratic Lyapunov function approach, model predictive sampled-data controller is designed. Finally, the leader-following control of multi mobile robots is simulated to show effectiveness of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 308-313 |
| Number of pages | 6 |
| Journal | Transactions of the Korean Institute of Electrical Engineers |
| Volume | 67 |
| Issue number | 2 |
| DOIs | |
| State | Published - Feb 2018 |
Keywords
- Leader-following control
- MPC
- Multi-mobile robot system
- Sampled-data