Event-Triggered Adaptive Tracking Control for Disturbed Nonholonomic Systems With Asymmetric State Constraints

Abstract

The paper investigates an event-triggered tracking control problem for disturbed nonholonomic systems subject to asymmetric state constraints. By utilizing a tan-type barrier Lyapunov function (BLF), constraint requirements are addressed for the x0e subsystem. A unique nonlinear state-dependent function (NSDF) is developed to satisfy asymmetric time-varying state constraints for the remaining subsystem. We further develop an event-triggered strategy, ensuring control input is delivered to the actuator only upon the occurrence of a predefined event. Stability analysis proves that the tracking errors converge to arbitrarily small neighborhoods around zero. The effectiveness and robustness of the proposed control algorithm are confirmed by both simulations and experiments on a wheeled mobile robot.