Event-triggered Backstepping Control Scheme for Networked Mobile Robots

摘要

Remote control of mobile robotic systems over a communication network is indeed a challenging task. With the benefit of event-triggered strategy, a dynamic tracking controller based on backstepping approach is proposed for a remotely-controlled mobile robot considering the limitation of network bandwidth. The designed controller aims to reduce the required transmissions of control update through the network while ensuring the system performance and stability of closed-loop system. For this purpose, a well-designed Lyapunov-based triggering condition is derived. Simulation results illustrate the efficacy of the proposed event-triggered scheme compared to a traditional time-triggered implementation in terms of network usage.