Exponential Synchronization for Mobile Robotic Formation: A Hybrid Dynamic Event-Triggered Intermittent Control Method

Abstract

To address the formation tracking issue of mobile robotic systems, this paper constructs a novel hybrid dynamic event-triggered intermittent control strategy, which can achieve the exponential synchronization of the systems. Considering the limited control resources, the intermittent control method is introduced into the distributed control strategy to save resources, and the existing intermittent control model is reconstructed to describe the system model better. A hybrid dynamic event-triggered mechanism is developed by combining the dynamic event-triggered method with the time sampling strategy, eliminating the Zeno phenomenon. The control time sequences in the developed intermittent control strategy are automatically selected by the hybrid dynamic event-triggered sequences, rather than artificially designed in advance, which reduces a certain degree of design complexity. The developed control strategy effectively saves control resources while alleviating the burden of network communication. Sufficient conditions for achieving exponential synchronization formation tracking are provided, and the exponential convergence of the formation error is demonstrated through the proposed lemma. Finally, a control task of multi-mobile robots formation is presented to verify the effectiveness of the theoretical analysis.