Networked control of Wheeled Mobile Robots

Abstract

This paper proposes a design approach to synthesis static state-feedback controller for Wheeled Mobile Robots (WMRs) controlled via a wireless communication networked. Variable delays considered in the Networked Control System (NCS) model to represent both of the data packet latency and dropout. Utilizing an appropriate Lyapunov-Krasovskii functional, an improved sufficient condition is derived to determine the controller gain in terms of Linear Matrix Inequalities (LMIs). Simulations demonstrate that the proposed method leads to remarkably less conservative results compared with the others' methods.