An event-triggered finite-time control scheme for unicycle robots

Abstract

This paper is concerned with the event-triggered finite-time control scheme for unicycle robots. First, Lagrange method is used to model the unicycle robot at the roll and pitch axis. Second, on the basis of the established model, an event-triggered finite-time control scheme is proposed to balance the unicycle robot in finite time and to determine whether or not control input should be updated. The control input should be only updated when the triggering condition is violated. As a result, the switching energy of actor can be saved. Third, a stability criterion on unicycle robots with the proposed event-trigged finite-time control scheme is derived by using a Lyapunov method. Finally, the effectiveness of the event-triggered finite-time control scheme is illustrated for unicycle robots.