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Periodic Event-Triggered Control strategy for a (3,0) mobile robot network.

Miguel G Villarreal-Cervantes1, J Pedro Sánchez-Santana2, J Fermi Guerrero-Castellanos3

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This study introduces a nonlinear periodic event-triggered control for autonomous robots to achieve consensus. The strategy significantly reduces control updates, saving energy in multi-vehicle systems.

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Autonomous Systems

Background:

  • Achieving consensus in multi-vehicle systems is crucial for coordinated tasks.
  • Event-triggered control strategies aim to optimize communication and reduce computational load.
  • Nonlinear control methods are essential for complex robotic systems.

Purpose of the Study:

  • To develop a nonlinear Periodic Event-Triggered Control (PETC) strategy for autonomous multi-vehicle systems.
  • To ensure trajectory boundedness and convergence to consensus using the PETC strategy.
  • To address the formation control problem as an extension of the consensus control.

Main Methods:

  • Proving the existence of a Control Lyapunov Function (CLF) for the consensus problem.
  • Developing event and feedback functions based on the CLF.
  • Implementing and evaluating the PETC strategy on a (3,0) mobile robot system.

Main Results:

  • The PETC strategy ensures boundedness and convergence to consensus.
  • A significant reduction of 99.78% in control updates compared to continuous control was achieved.
  • The proposed strategy demonstrated effective performance in experimental results, leading to energy savings.

Conclusions:

  • The developed nonlinear PETC strategy is effective for achieving consensus in multi-vehicle autonomous systems.
  • The event-triggered approach offers substantial energy savings by minimizing control updates.
  • The strategy can be extended to address formation control problems in robotics.