The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System

다중모바일로봇의 리더추종을 위한 샘플데이타 모델예측제어

  • Han, Seungyong (School of Electronic Engineering, Kyungpook National University) ;
  • Lee, Sangmoon (School of Electronic Engineering, Kyungpook National University)
  • Received : 2017.12.10
  • Accepted : 2018.01.30
  • Published : 2018.02.01
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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.

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References

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