Asynchronous Piecewise Continuous Hybrid Dynamic Event-Triggered Tracking Control for Mobile Robots

摘要

In this article, an asynchronous piecewise continuous hybrid dynamic event-triggered mechanism (DETM) is proposed for wheeled mobile robots (WMRs) to cope with nonideal network environments. Unlike the previous DETM, the asynchronous piecewise continuous DETM depends on a piecewise continuous intervals related to the previous triggered durations, while maintaining the required control performance and improving communication efficiency. A hybrid dynamic model evolving from the WMR system is characterized to describe the triggered and un-triggered states, and a hybrid controller is designed with a dynamic parameter that indicate in real-time the data transfer situation to achieve the trajectory tracking control of the WMR. In addition, the uniformly globally asymptotically stability condition is obtained for the hybrid dynamic model under the proposed asynchronous piecewise continuous DETM. Finally, practical experiments including comparison results are provided for illustration of the provided methodology.