Adaptive Control of a Networked Mobile Robot Subject to Parameter Uncertainties and Limited Communications

Abstract

A nonholonomic mobile robot, affected by parameter uncertainties and controlled over a communication network under limited bandwidth, is considered in this paper. Adaptive backstepping controller is designed to compensate the uncertainties in the model parameters. Thereafter, an event-triggered scheme is proposed based on a Lyapunov-based triggering condition in order to reduce the unnecessary utilization of network resources. Compared to traditional time-triggered implementation, simulation results show that the proposed control scheme successfully ensures faithful trajectory tracking with substantial saving of input resources characterized by number of required control signal transmissions.