PERIODIC EVENT-TRIGGERED TRACKING CONTROL FOR NONHOLONOMIC WHEELED MOBILE ROBOTS

This paper proposes a periodic event-triggered control (PETC) method for tracking problems of nonlinear mobile robotic systems. Periodic state measurement is adopted as the relaxation of continuous measurement of system states is conductive to the application for real physical systems. Further, event-triggered control method is proposed to save the network communication resources. In combination of these two advantages, PETC is applied for nonholonomic wheeled mobile robots with Zeno phenomenon avoided. Finally, experimental comparative results show that PETC can provide suitable accuracy with a significant reduction of 98.75% of the controller updates.