Journal article

Event-triggered tracking control of unicycle mobile robots

Romain Postoyan, Marcos Cesar Bragagnolo, Ernest Galbrun, Jamal Daafouz, Dragan Nesic, Eugenio B Castelan

Automatica | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2015

Abstract

We investigate the stabilization of time-varying trajectories for unicycle mobile robots using event-triggered controllers. We follow an emulation-like approach in the sense that we first synthesize the controller while ignoring the communication constraints and we then derive an appropriate triggering condition. The solutions to the robot model are proved to practically converge towards the given reference trajectory, under some condition on the latter. Furthermore, the existence of a uniform minimum amount of time between any two transmissions is ensured. Afterward, experimental results are presented where the controller has been implemented on a remote computer which transmits its output ..

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Grants

Awarded by ANR under the grant COMPACS


Awarded by European 7th Framework Network of Excellence Highly-complex and networked control systems (HYCON2)


Funding Acknowledgements

This work was supported by the ANR under the grant COMPACS (ANR-13-BS03-0004-02), the European 7th Framework Network of Excellence Highly-complex and networked control systems (HYCON2 No. 257462) and the Australian Research Council under the Discovery Projects and Future Fellowship schemes. The material in this paper was presented at the 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013), September 4-6, 2013, Toulouse, France. This paper was recommended for publication in revised form by Associate Editor Maurice Heemels under the direction of Editor Andrew R. Teel.