Abstract
This paper 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 unicycle mobile robots of which the state is subject to sampling (measurement) errors. It is guaranteed that the generated control inputs are restricted to within desired ranges, and the unicycle trajectory practically converges towards a time-varying trajectory as long as the sampling errors satisfy a saturated sector bound condition with a nonnegative offset. The proposed robust controller gives rise to a novel event-triggered sampling mechanism with a saturated threshold signal, which adjusts the sampling errors online to steer the tracking error to a desired neighborhood of the origin and guarantees a positive lower bound for the intersampling intervals. As a special case, by designing appropriately the controller and the event-triggered sampling mechanism, asymptotic tracking is achievable. New self-triggered and periodic sampling mechanisms are also developed as natural extensions of the ev
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
