Communication Dans Un Congrès Année : 2024

An Event-Triggered Robust Control for Unicycle Mobile Robots with Communication, State, and Input Constraints

Résumé

This paper contributes to designing a sampled robust controller for the trajectory tracking problem in constrained unicycle mobile robots. The proposed controller comprises the design of an aperiodic control law based on an event-triggered controller and a periodic control law based on a constant sampled state-feedback controller. The state feedback-based event-triggered control is designed by means of the attractive ellipsoid method and the barrier Lyapunov function and provides a safe set, where the state constraints are not transgressed, and a switching set that defines the region where each part of the controller is active. The periodic sampled control part is designed taking into account a maximum sampling time and is active inside the switching set. The proposed strategy ensures the input-to-state stability of the tracking error dynamics with respect to external disturbances. A constructive and simple method based on linear matrix inequalities is proposed to compute the controller gains. Simulation results illustrate the feasibility of the proposed approach.

Domaines

Fichier principal
Vignette du fichier
CDC24_0474_FI.pdf (2.27 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-04895366 , version 1 (18-01-2025)

Licence

Identifiants

  • HAL Id : hal-04895366 , version 1

Citer

Ariana Gutiérrez, Hector Ríos, Manuel Mera, Denis Efimov, Rosane Ushirobira. An Event-Triggered Robust Control for Unicycle Mobile Robots with Communication, State, and Input Constraints. CDC 2024 - Conference on Decision and Control, Dec 2024, Milan, Italy. ⟨hal-04895366⟩
127 Consultations
243 Téléchargements

Partager

  • More