Commenced in January 2007
Paper Count: 30848
Sampled-Data Model Predictive Tracking Control for Mobile Robot
Abstract:In this paper, a sampled-data model predictive tracking control method is presented for mobile robots which is modeled as constrained continuous-time linear parameter varying (LPV) systems. The presented sampled-data predictive controller is designed by linear matrix inequality approach. Based on the input delay approach, a controller design condition is derived by constructing a new Lyapunov function. Finally, a numerical example is given to demonstrate the effectiveness of the presented method.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1130055Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 794
 W. Lucia, F. Tedesco. ”A networked-based receding horizon scheme for constrained LPV systems,” European Journal of Control, vol. 25, pp. 69-75, 2015.
 S. Lee, Ju H. Park, D. Ji, S. Won, ”Robust model predictive control for LPV systems using relaxation matrices,” IET. Control Theory Appl., vol. 1, no. 6, pp. 1567-1573, 2007.
 A. Seuret, F. Gouaisbaut, Wirtinger-based integral inequality: application to time-delay systems, Automatica, vol. 49, no. 8, pp. 2860-2866, 2013.
 S. Lee, O. Kwon, Quantised MPC for LPV systems by using new LyapunovKrasovskii functional, IET. Control Theory Appl., vol. 11, no. 3, pp. 439-445, 2017.
 D. Yue, E. Tian, Y. Zhang, and C. Peng, “Delay-distribution-dependent stability and stabilization of T-S fuzzy systems with probabilistic interval delay,” IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 39, no. 2, pp. 503–516, 2009.
 C.K. Zhang, Y. He, L. Jiang, W. Lin, M. Wu, ”Delay-dependent stability analysis of neural networks with time-varying delay: A generalized free-weighting-matrix,” Applied Mathematics and Computation, vol. 294, no. 1, pp. 102-120, 2017.
 E. Fridman and M. Dambrine, “Control under quantization, saturation and delay: An LMI approach,” Automatica, vol. 45, no. 10, pp. 2258–2264, 2009.