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http://dx.doi.org/10.5370/KIEE.2018.67.2.308

Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System  

Han, Seungyong (School of Electronic Engineering, Kyungpook National University)
Lee, Sangmoon (School of Electronic Engineering, Kyungpook National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.67, no.2, 2018 , pp. 308-313 More about this Journal
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.
Keywords
Multi-mobile robot system; Sampled-data; Leader-following control; MPC;
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