Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866909564179316736 |
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| author | V, Harini Rajan, Anusree Amrutur, Bharadwaj Tallapragada, Pavankumar |
| author_facet | V, Harini Rajan, Anusree Amrutur, Bharadwaj Tallapragada, Pavankumar |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2308_15834 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots V, Harini Rajan, Anusree Amrutur, Bharadwaj Tallapragada, Pavankumar Systems and Control 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. |
| title | Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2308.15834 |