Work

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

Year: 2024

Type: article

Abstract: In this paper, we investigate the event-based tracking control for two-wheeled mobile robots using a sliding mode control strategy. To address the conflict between the singularity problem and finite-time performance, a new nonsingular terminal sliding mode controller enabling mobile robots to achieve the tracking goal through a wireless network is developed. Further, redesign the controller using sampling information, in which an event condition is introduced to determine the sampling sequence, and the event-triggered controller avoids the high gain situation through the proposed sliding variables. The Zeno phenomenon for event condition is excluded by proofing the existence of minimal positive interevent execution time. Finally, an experiment has been implemented on a remote computer transmitting control signals to a mobile robot, demonstrating the effectiveness and applicability of the designed controller. • This paper considers the event-based tracking control of two-wheeled mobile robots. • A novel terminal sliding surface is presented to get the finite-time stability. • The controller designed by sampling information can avoid singularity problem. • An experiment is performed to verify the effectiveness of the proposed controller.

Source: ISA Transactions

DOI: 10.1016/j.isatra.2024.11.032

Authors: Chao Wang, Peng Shi, Imre Rudas

Institutions: Harbin Engineering University, The University of Adelaide, Obuda University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,950

Funder: Australian Research Council