IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Leader-Following Sampled-Data Control of Wheeled Mobile Robots using Clock Dependent Lyapunov Function

시간 종속적인 리아프노프 함수를 이용한 모바일 로봇의 선도-추종 샘플 데이터 제어

  • Received : 2021.07.15
  • Accepted : 2021.08.02
  • Published : 2021.08.31
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Abstract

The aim of this paper is to propose a less conservative stabilization condition for leader-following sampled-data control of wheeled mobile robot (WMR) systems by using a clock-dependent Lyapunov function (CDLF) with looped functionals. In the leader-following WMR system, the state and input of the leader robot are measured by digital devices mounted on the following robot, and they are utilized to construct the sampled-data controller of the following robot. To design the sampled-data controller, a stabilization condition is derived by using the CDLF with looped functionals, and formulated in terms of sum of squares (SOS). The considered Lyapunov function is a polynomial form with respect to the clock related to the transmitted sampling instants. As the degree of the Lyapunov function increases, the stabilization condition becomes less conservative. This ensures that the designed controller is able to stabilize the system with a larger maximum sampling interval. The simulation results are provided to demonstrate the effectiveness of the proposed method.

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Acknowledgement

이 논문은 2021년도 정부 (교육부)의 재원으로 한국연구재단의 지원을 받아 수행된 기초연구사업임 (No. NRF-2019R1I1A3A01060151). 본 연구는 산림청 (한국임업진흥원) 산림과학기술 연구개발사업 '(FTIS2019149B10-2123-0301)'의 지원에 의하여 이루어진 것입니다.

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