Networked control of mobile robots using switched systems theory

In this paper, a switching static state feedback controller is designed for the posture stabilization of a wheeled mobile robot which is controlled over a communication network. The control problem is formulated as the asymptotic stabilization of a continuous time-delay switched system. By efficient computation, less conservative sufficient condition is derived to determine the switching controller gains by the solution of linear matrix inequalities. Finally, simulation results are presented to demonstrate the advantages and applicability of the proposed scheme. Keywords— Wheeled Mobile Robots, Networked Control Systems, Switched Time-delay Systems.