Tracking Control of Unicycle Mobile Robots With Event-Triggered and Self-Triggered Feedback

• Published in: IEEE transactions on automatic control Vol. 68; no. 4; pp. 2261 - 2276
• Main Authors: Zhang, Pengpeng, Liu, Tengfei, Jiang, Zhong-Ping
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Angular velocity; Control methods; Control systems design; Controllers; Convergence; Dynamic stability; Event-triggered control; Feedback linearization; Lower bounds; mobile robot; Mobile robots; periodic control; Robot control; Robots; Robust control; Robustness; Sampling; Sampling error; self-triggered control; Stability analysis; Systematics; Tracking control; Tracking errors; Trajectory

This article studies the tracking control problem for unicycle mobile robots with event-triggered and self-triggered feedback. Based on a modified dynamic feedback linearization technique and a refined stability analysis, we first propose a new class of saturated sampled-data controllers for unicycl...