Sampled-Data Model Predictive Tracking Control for Mobile Robot

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.

Authors:

• Wookyong Kwon
• Sangmoon Lee

Keywords:

• Model predictive control
• sampled-data control
• linear parameter varying systems
• LPV.

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