Event-triggered formation tracking control of nonholonomic mobile robots without velocity measurements

• Autores: Junyi Yang, Feng Xiao, Tongwen Chen
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 112, 2020
• Idioma: inglés
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• Resumen

  • This paper investigates an event-triggered formation tracking problem of nonholonomic mobile robots in a leader’s coordinate frame. The proposed control protocol can be implemented in directed sensor networks based on only relative information detected by onboard sensors of mobile robots. A novel observer is proposed, and by virtue of it, neither velocity measurements nor communication among robots is required. Furthermore, by introducing a super-twisting sliding mode differentiator, the convergence of estimation errors is no longer dependent on the convergence of system states, which makes it possible to adopt an event-triggered mechanism, by which the continuous update of control command is avoided and Zeno behavior is excluded. Finally, simulations illustrate the effectiveness of our control protocol.