Hybrid Dynamic Trajectory Tracking Control for Mobile Robots via Intermittent Sampled-Data Communication

摘要

This article investigates the hybrid dynamic trajectory tracking control problem of the mobile robot via intermittent sampled-data (ISD) communication. In the dual-channel transmission of robot position signals and control signals, asynchronous and synchronous ISD communications are adopted to reduce network bandwidth usage and controller calculations while achieving satisfactory tracking performance, under which a hybrid dynamic tracking error model is established, including the jump and the flow domain. To achieve tracking control, a dynamic controller is employed with a dynamic parameter describing whether the signal is transmitted. Furthermore, the uniformly globally asymptotically stability (UGAS) condition under ISD communication is established for the hybrid dynamic tracking error system. Moreover, if the asynchronous ISD communication is degenerated into the synchronous ISD communication, a simplified dynamic controller and the simpler UGAS conditions are also given. Finally, practical experiments are provided for tracking control of the robot, which illustrate the validity for the theoretical results.