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arXiv · 2308.15834

Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots

Harini V·Anusree Rajan·Bharadwaj Amrutur·Pavankumar Tallapragada
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Abstract

This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the error in approximating a continuous-time control signal. We design an event-triggering rule that guarantees uniform ultimate boundedness of the tracking error and non-Zeno behavior of inter-event times. We illustrate our results through a suite of numerical simulations and experiments, which indicate that the number of events generated by the proposed controller is significantly less compared to that by a time-triggered controller or a event-triggered controller based on zero-order hold while guaranteeing similar tracking performance.

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Harini V, Anusree Rajan, Bharadwaj Amrutur, Pavankumar Tallapragada. 2023-08-30. Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots. https://arxiv.org/abs/2308.15834

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