Tracking control for two-wheeled mobile robots via event-triggered mechanism

Abstract

In this paper, we investigate the event-based tracking control for two-wheeled mobile robots using a sliding mode control strategy. To address the conflict between the singularity problem and finite-time performance, a new nonsingular terminal sliding mode controller enabling mobile robots to achieve the tracking goal through a wireless network is developed. Further, redesign the controller using sampling information, in which an event condition is introduced to determine the sampling sequence, and the event-triggered controller avoids the high gain situation through the proposed sliding variables. The Zeno phenomenon for event condition is excluded by proofing the existence of minimal positive interevent execution time. Finally, an experiment has been implemented on a remote computer transmitting control signals to a mobile robot, demonstrating the effectiveness and applicability of the designed controller.