Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots

TL;DR

This paper introduces an event-triggered polynomial control approach for unicycle robot trajectory tracking, reducing control updates while maintaining accuracy and stability through a novel triggering rule.

Contribution

It presents a new event-triggered polynomial control method with stability guarantees and reduced control updates compared to existing zero-order hold and time-triggered methods.

Findings

Fewer control events compared to traditional methods

Maintains similar tracking accuracy and stability

Validated through simulations and experiments

Abstract

This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the error in approximating a continuous-time control signal. We design an event-triggering rule that guarantees uniform ultimate boundedness of the tracking error and non-Zeno behavior of inter-event times. We illustrate our results through a suite of numerical simulations and experiments, which indicate that the number of events generated by the proposed controller is significantly less compared to that by a time-triggered controller or a event-triggered controller based on zero-order hold while guaranteeing similar tracking performance.