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시간 종속적인 리아프노프 함수를 이용한 모바일 로봇의 선도-추종 샘플 데이터 제어
예동희,한승용,이상문,Ye, Donghee,Han, Seungyong,Lee, Sangmoon 대한임베디드공학회 2021 대한임베디드공학회논문지 Vol.16 No.4
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.