Path Tracking of Non-holonomic Mobile Robot Using Event-triggered Control in Presence of Time and State-Dependent Uncertainties

Abstract

This paper proposes path tracking of non-holonomic mobile robot using event-triggered control in presence of time and state dependent uncertainty. A non-holonomic mobile robot is an underactuated system where, two control input drives the three system states to the desired value. The controller is developed in two steps. In first step an eventtriggered kinematic controller is designed to reduce the effort of the actuator. The event-triggering conditions are derived using Lipschitz method. In second step a dynamic controller has been designed which offers robustness towards time and state-dependent uncertainty. To reject the time dependent uncertainty twisting controller is used and to reject the state-dependent uncertainty adaptive tuning laws are derived using Lyapunov stability theory. Simulations has been done for different types of trajectory tracking.