KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

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Title	Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System
Authors	한승용(Seungyong Han) ; 이상문(Sangmoon Lee)
DOI	http://doi.org/10.5370/KIEE.2018.67.2.308
Page	pp.308-313
ISSN	1975-8359
Keywords	Multi-mobile robot system ; Sampled-data ; Leader-following control ; MPC
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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