Tracking control for two-wheeled mobile robots via event-triggered mechanism

Area of Science:

• Robotics
• Control Systems
• Wireless Communication

Background:

• Two-wheeled mobile robots require robust tracking control.
• Existing sliding mode control methods face singularity and finite-time performance challenges.
• Event-based control offers potential for efficient communication and computation.

Purpose of the Study:

• To develop an event-based tracking control strategy for two-wheeled mobile robots.
• To address the singularity problem and achieve finite-time performance.
• To design an event-triggered controller that avoids high-gain issues.

Main Methods:

• A novel nonsingular terminal sliding mode controller was developed.
• The controller was redesigned using sampling information with an event condition.
• The Zeno phenomenon was excluded by proving a minimal positive interevent execution time.

Main Results:

• The proposed nonsingular terminal sliding mode controller enables precise wireless tracking.
• The event-triggered controller effectively avoids high-gain situations.
• Experimental validation demonstrated the controller's effectiveness and applicability.

Conclusions:

• The developed event-based sliding mode control strategy is effective for two-wheeled mobile robots.
• The controller successfully addresses singularity issues and ensures finite-time performance.
• The event-triggered approach offers a practical solution for remote robot control.